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.
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