In deterministic design of feedback controllers for uncertain dynamical systems, upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system. Sometimes, however these upper bounds may not be easily obtained because of the complexity of structure of the uncertainties. Simple adaptation laws for upper bounds on the norm of the uncertainties are proposed, and these adaptive upper bounds are used to design a variable-structure control system that guarantees the asymptotic stability of uncertain dynamical systems.
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