Adaptive Nonlinear Control: A Lyapunov Approach
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”.
KeywordsLyapunov Function Tuning Function Adaptive Nonlinear Control Adaptive Control Design Lyapunov Approach
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- M. Krstić, I. Kanellakopoulos, and P. V. Kokotović, Nonlinear and Adaptive Control Design, New York, NY: Wiley, 1995.Google Scholar