Abstract
In this paper, adaptive compensation with a robust integral of the sign of the extended error (RISEE) feedback is developed for high precise tracking control of systems in the presence of simultaneous structured and unstructured uncertainties. To handle various uncertainties existing in the system in one controller, we propose an adaptive RISEE controller (ARISEE), in which an adaptive law based on the improved discontinuous projection method is synthesized to handle parametric uncertainties and the RISEE robust term to attenuate unmodelled disturbances. Moreover, the present controller does not need
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