Robust adaptive control for nonlinear system with bounded perturbations

The purpose of this paper is constructing a robust adaptive feedback controller for a class of nonlinear systems with unknown parameters and. bounded perturbations. The robust adaptive control algorithm(RACFL) developed in this paper can be combined with two parts, a feedback linearization for the nonlinear system and a robust adaptive control for an equivalent linear system, as robust controller structures to yield robust adaptive control schemes. By the regulation of the RACFL, we can get that, while the output error satisfies performance specifications, the boundedness of all signals in the system is maintained. Therefore, we can confirm the robust adaptive control for the nonlinear system with unknown parameters and bounded perturbations.