In this paper, we consider the design and analysis of controller for two kinds of complexsystems. The main contributions include:1. The first chapter investigates output-feedback regulation for more general nonlinearsystems with integral input-to-state stability (iISS) inverse dynamics and unknown controldirection. By using the adaptive backstepping method, an output feedback controller isgiven to drive the output to the origin while maintaining other closed-loop signals bounded.2. The second chapter investigates more general high-order stochastic nonlinear systemdriven by noise of unknown covariance and its adaptive state-feedback stabilization problem.By using the backstepping method, introducing a new scalar transformation and choosing anappropriate Lyapunov function, a smooth state-feedback controller is designed to guaranteethat the origin of the closed-loop system is globally stable in probability. |