Necessary and sufficient conditions of adaptive robust control for a class of nonlinear systems
不确定非线性系统自适应镇定的充要条件

The problem of robust adaptive stabilization is discussed for a wide class of uncertain nonlinear control sys- tems,of which the nominal systems include some non-minimum phase nonlinear systems and some systems without relative degree.The uncertainties are time-invariant unknown linear parameters.Firstly,necessary and sufficient conditions are presented for the existence of a robust adaptive controller with some assumptions.The design procedure of the controller is then explicitly given by using the back-stepping approach.The main result does not require any growth conditions,relative degree conditions and minimum phase conditions.Finally,some examples are presented to illustrate the design procedure.