Directly adaptive control for a class of nonlinear system
Directly adaptive controller for a class of nonlinear system is designed. This nonlinear system is substituted by a time-varying linear system, firstly. Then, the general structure of adaptive controller for the nonlinear system is designed. Cubic spline functions are used to identify the coefficients of time-varying controller. The stability of a closed-loop system is proved and the effectiveness of the presented method is demonstrated by the simulation results.