Our recent paper on “Robust adaptive stabilization by delay under state parametric uncertainty and measurement bias” has been accepted for publication in TAC!
This research is motivated by a nonlinear pendulum control problem. We consider a class of nonlinear systems with biased measurements, unknown parameters, and external disturbances. We avoid a dynamic state reconstruction (synthesis of an observer) using delayed values of the output in the feedback and adaptation laws. The efficacy of the developed control is demonstrated on this application through simulations and experiments.