Multiple models with two level adaptation control for a class of nonlinearly parameterized nonlinear system

  • Vinay PandeyEmail author
  • Indrani Kar
  • Chitralekha Mahanta


A multiple models with two level adaptation control method for nonlinearly parameterized nonlinear system is proposed in this article. The proposed adaptive control technique is well suited for controlling nonlinear systems having unknown parameters. An estimation model of the system is designed to tune the unknown parameters. Moreover, the estimation error is shown to converge to zero asymptotically at the first level and the closed loop stability of the overall system after two level is proved using the Lyapunov stability criterion. Furthermore, different configurations for adaptive control using multiple models and selection of the optimum number of models is also reviewed. A cart-pendulum system and an academic example is simulated and results are presented. The improvement in transient and steady state performance as well as better parameter convergence using the proposed scheme are shown as compared to existing single model methods.


Multiple model Adaptive control Two level adaptation Nonlinear parameterization Cart-pole system 


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.IIT GuwahatiGuwahatiIndia

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