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Adaptive Output Regulation of Nonlinear Systems described by Multiple Linear Models

Mai Bando, Akira Ichikawa
In this paper the output regulation problem for nonlinear systems described by multiple linear models with unknown parameters is considered.
Based on the Lyapunov stability theory, an adaptive controller which stabilize the system is derived.
Then sufficient conditions for the output regulation problem with full information to be solvable are established.
Simulation results are given to illustrate the theory.
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