A Servomechanism Design for Nonlinear Systems with Arbitrary Relative Degree by Using Nonlinear Plug-in Adaptive Controller

Hiroyuki Miyamoto, Hiromitsu Ohmori

Research output: Contribution to journalArticle


This work considers an adaptive servosystem design for a class of nonlinear systems that can be transformed into a canonical form. Although our proposed compensator is based on nonlinear internal model principle, overall control system structure adopts plug-in manner, i.e. the compensator to achieve tracking and disturbance rejection is placed outside the existed feedback controller. Moreover such compensator can be designed by solving error feedback nonlinear regulation problem and by using recursive procedure. An adaptation mechanism is introduced to cope with the unknown parameters of exosystem.

Original languageEnglish
Pages (from-to)1456-1464
Number of pages9
JournalIEEJ Transactions on Electronics, Information and Systems
Issue number8
Publication statusPublished - 2003



  • adaptive control
  • nonlinear control
  • plug-in control structure
  • recursive design
  • servomechanism

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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