Adaptive Stabilization of Minimum-Phase Plant under Lipschitz Uncertainty via Yakubovich's Method of Recurrent Objective Inequalities∗

This paper addresses a problem of adaptive stabilization of minimum-phase plant under Lipschitz uncertainty and bounded external disturbance. Solution of the problem is based on the method of recurrent objective inequalities proposed by V.A. Yakubovich in the 1960s. This method allows not only to stabilize unknown plant with the use of a simple projection type estimation algorithm, but to ensure online model validation as well.