re r C wDecentralized Control of La

A global decentralized adaptive output-feedback dynam-ic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally dieomorphic into systems which are interconnections of subsystems in gen-eralized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the liter-ature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant ma-trix can be found to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem. SuÆcient conditions under which asymptotic tracking and stabilization can be achieved are al-so obtained. This represents the rst decentralized adaptive output-feedback tracking results for this class of systems. I