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I. Kanellakopoulos, and R. Kokotovic, Nonlinear and Adaptive Control Design, New York: Wiley, 1995. 14. D. Seto, A. M. Annaswamy, J. Baillieul, Adaptive control of nonlinear systems with a triangular structure, IEEE Trans. Autom. Control, 7: 1994. 15. -B. Pomet, L. Praly, Adaptive nonlinear stabilization: Estimation from the Lyapunov equation, IEEE Trans. Autom. Control, 37: 729–740, 1992. 16. E. B. Kosmatopoulos and P. A. Ioannou, A switching adaptive controller for feedback linearizable systems, IEEE Trans.

Another answer is that BLS are useful in designing control systems that use a very small control signal to modulate a large current of electricity of fluid, apply brakes, or change rates of growth. ) If A = 0 in equations 4 or 5, the BLS is called symmetric: rank(g, Fg, . . , F n−1 g) = n x˙ u jB jx j=1 (4) B jx (5’) j=1 As a control system, equation 4 is time-invariant, and we need to use controls that can start and stop when we wish. The use of PWC controls not only is appropriate for that reason but also allows us to consider switched linear systems as BLS, and in that case, only a discrete set of control values such as {−1, 1} or {0, 1} is used.

17 for PPF systems of the form in Eq. (65). Acknowledgment This article was supported by NASA grant NAGW-4103. BIBLIOGRAPHY 1. J. A. Aseltine, A. R. Manchini, and C. W. Sartune, A survey of adaptive control systems, IRE Trans. Automat. Control, 6 (3): 1958. 2. D. McRuer, I. Ashkenas, D. Graham, Aircraft Dynamics and Automatic Control, Princeton, NJ: Princeton Univ. Press, 1973. 3. J. B. , System Sensitivity Analysis, Stroudsburg, PA: Dowden, Hutchinson & Ross, 1973. 4. L. P. Grayson, Design via Lyapunov’ second method, Proc.

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