Adaptive Nonlinear Control: A Lyapunov Approach

  • Petar V. Kokotović
  • Miroslav Krstić
Part of the Mathematical Modelling book series (MMO, volume 8)


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”.


Lyapunov Function Tuning Function Adaptive Nonlinear Control Adaptive Control Design Lyapunov Approach 
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  1. [1]
    M. Krstić, I. Kanellakopoulos, and P. V. Kokotović, Nonlinear and Adaptive Control Design, New York, NY: Wiley, 1995.Google Scholar

Copyright information

© Birkhäuser Boston 1997

Authors and Affiliations

  • Petar V. Kokotović
    • 1
  • Miroslav Krstić
    • 2
  1. 1.Dept. Electrical and Computer EngineeringUniversity of CaliforniaSanta BarbaraUSA
  2. 2.Dept. Mechanical EngineeringUniversity of MarylandUSA

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