Discrete-Time Immersion and Invariance Adaptive Control of a Slider-crank Mechanism

Abstract

Abstract A discrete-time adaptive nonlinear control procedure is developed based on immersion and invariance control, and using back-stepping for the regulation of slider-crank system. A convenient parametric formulation of the system dynamics is established. A novel parameter estimator design is presented, and the back-stepping controller is constructed considering the certainty equivalence principle.