Contributions to Adaptive Control of Multivariable Nonlinear Systems With and Without Observers

Abstract

The work of this thesis deals with two types of problems in adaptive fuzzy control for nonlinear multivariable systems: state-feedback control and output-feedback control. In all proposed adaptive control schemes, fuzzy logic systems are used to appropriately approximate uncertain nonlinear functions. A Lyapunov-based analysis is carried out to conclude about the stability of the closed-loop system as well as the convergence of the underlying (tracking and observation) errors. Numerical simulations are presented to demonstrate the effectiveness of theoretical results.