Adaptive Polynomial Identification and Optimal Tracking Control for Nonlinear Systems

The paper proposes an adaptive polynomial identifier and a robust nonlinear optimal tracking control scheme for polynomial systems. The identifier approximates an uncertain nonlinear system, where its parameters are on-line adapted using a Kalman-Bucy filter. Then, based on the identifier an optimal tracking controller is synthesized, including an integral term to provide it robustness. The identification and control scheme is illustrated via simulations for the control of the blood glucose level in diabetic patients.