%0 Journal Article
	%A Ibrahim F. Jasim
	%D 2009
	%J International Journal of Biomedical and Biological Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 35, 2009
	%T Stable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear Systems with Unknown Dead Zone
	%U https://publications.waset.org/pdf/3236
	%V 35
	%X This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. Coupling of unmeasured states and unknown parameters ii. Unknown dead zone at the system actuator. The system is firstly cast into a modified form in which the observer and parameter estimation become feasible. Then a stable robust adaptive controller, state observer, parameter update laws are derived that would provide global adaptive system stability and desirable performance. To validate the approach, simulation was performed to a single-link mechanical system with a dynamic friction model and unknown dead zone exists at the system actuation. Then a comparison is presented with the results when there is no dead zone at the system actuation.

	%P 338 - 341