A VSS identification scheme for time-varying parameters (Q1868090)

A single input single output nonlinear control system is considered in the presence of an unknown (but bounded) time-varying parameter. An instantaneous VSS identification scheme is proposed under suitable assumptions. This scheme is based on the observation that the system (originally rational in the parameter) becomes linear in the parameter once entering the sliding mode. It is shown that this identification scheme can be also applied to a class of multi-input multi-output nonlinear control systems. At the end, an illustrative example (a model of a planar two-link robotic manipulator) is considered.