Astolfi A., Karagiannis D., Ortega R. Nonlinear and adaptive control with applications

London: Springer-Verlag London Limited, 2008. — 290 p.
ISBN: 978-1-84800-065-0, e-ISBN: 978-1-84800-066-7Serie: Communications and Control Engineering
The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.