Adaptive cerebellar model articulation controller for a class of nonlinear systems with only output measurement

Based on the cerebellar model articulation approach, an adaptive output-feedback control for a class of nonlinear systems. A control law of the closed-loop system is derived from an adaptive cerebellar model articulation control approach, and the adjustable parameters of the adaptive cerebellar model articulation controller are updated online by an adaptive law. The stability of the closed-loop system is verified by strictly positive real Lyapunov theory, under the constraint that only the system output measurement is available for feedback. In addition, the system output is guaranteed to asymptotically track a given bounded reference signal. Eventually, the performance of the proposed approach is illustrated by two simulated examples of the nonlinear systems.