Output Feedback Servomechanism with Observer-Based Loop Transfer Recovery and Adaptive Augmentation

In this chapter, we introduce an observer-based adaptive output feedback augmentation design of a baseline robust servo-controller for multi-input–multi-output controllable and observable dynamical systems with matched uncertaintiesMatched uncertainties and bounded disturbances. This material is central to our book. It represents a culmination of all previously discussed control methods, with formal quantifiable guarantees of closed-loop stability, robustness, and tracking performance in the presence of system uncertainties.