Miskovic, LjubisaDjurovic, ZeljkoKovacevic, Branko2009-01-132009-01-132009-01-13200210.1080/00207720210123706https://infoscience.epfl.ch/handle/20.500.14299/33589A class of modified state space self-tuning controllers of the minimum state error variance type was considered. A suitable chosen structure of the proposed controller allows the tracking of a time-varying reference input and makes it possible to apply this solution to nonlinear and non-stationary plants. The advantage in using the proposed algorithm for nonlinear system control is demonstrated through its application to aircraft control around a prespecified reference trajectory in the presence of characteristic disturbances. The results show that the proposed controller has good tracking performance and possesses rather good immunity towards disturbances.adaptive controlnonlinear controlobserversparameter estimationself-adjusting systemstext::journal::journal article::research article