Adaptive Nonlinear Control: A Lyapunov Approach

Abstract

Realistic models of physical systems are nonlinear and usually contain parameters (masses, inductances, aerodynamic coefficients, etc.) which are either poorly known or dependent on a slowly changing environment. If the parameters vary in a broad range, it is common to employ adaptation: a parameter estimator—identifier— continuously acquires knowledge about the plant and uses it to tune the controller “on-line”.