Nonlinear and Adaptive Control Design (Adaptive and Cognitive Dynamic Systems: Signal Processing, Learning, Communicatio
Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.
Why Read This Book
You should read this book if you need a rigorous, constructive method for designing adaptive controllers for uncertain nonlinear systems: it introduces adaptive backstepping and derives adaptation laws with Lyapunov-based proofs. You will gain a principled toolbox for turning stability arguments into implementable adaptive algorithms and see many illustrative examples that clarify when and how the techniques apply.
Who Will Benefit
Advanced engineers and researchers working on adaptive algorithms, nonlinear signal-processing, or control-oriented parameter estimation who need a rigorous design methodology and stability guarantees.
Level: Advanced — Prerequisites: Solid background in linear and nonlinear systems theory, differential equations, Lyapunov stability, and familiarity with basic adaptive-control concepts or classical control theory.
Key Takeaways
- Apply the backstepping design procedure to construct stabilizing controllers for a wide class of nonlinear systems.
- Derive adaptive laws (adaptive backstepping) to handle parametric uncertainties while proving stability via Lyapunov methods.
- Design state- and output-feedback controllers using systematic recursive construction and observer/estimator integration.
- Analyze robustness properties and modify designs to tolerate disturbances and unmodeled dynamics.
- Translate stability proofs into implementable adaptation algorithms and illustrative numerical examples.
- Adapt the methods to practical engineering examples, clarifying limitations and implementation considerations.
Topics Covered
- 1. Introduction and Motivation
- 2. Mathematical Preliminaries and Lyapunov Methods
- 3. Nonadaptive Backstepping: State-Feedback Designs
- 4. Backstepping with Output Feedback and Observers
- 5. Fundamentals of Adaptive Backstepping
- 6. Adaptive Backstepping for Parametric Uncertainty
- 7. Robustness, Disturbance Rejection, and Extensions
- 8. Time-Varying Systems and Nonstandard Nonlinearities
- 9. Implementation Issues and Examples
- 10. Appendices: Proofs and Technical Lemmas
How It Compares
If you want a broader introduction to nonlinear systems theory, Khalil's "Nonlinear Systems" is more general; Krstić's book is more focused and constructive for adaptive backstepping, while Åström & Wittenmark's "Adaptive Control" covers adaptive methods for predominantly linear systems.
