Patent Document ID: 8712559
Application ID: 13023965
Patent Flag: 1

Claim One:
1. A method of adaptive control for an uncertain nonlinear multi-input multi-output system, the method comprising: providing a processor operable to execute a control law residing in a memory, the control law including a bandwidth-limited filter configuration, the control law configured to generate a control signal u c as an output of the bandwidth-limited filter configuration; measuring a system state signal x; generating a prediction of the system state {circumflex over (x)}; subtracting the prediction of the system state {circumflex over (x)} from the measured system state signal x, and producing an error signal {tilde over (x)}; generating estimates of uncertainties in the multi-input multi-output system; and generating the control signal u c as an output of the bandwidth-limited filter configuration based on the generated estimates of uncertainties and the measured system state x.