Modular approach to adaptive nonlinear stabilization (Q1915043)

The authors treat the adaptive control of nonlinear dynamic systems. The approach is based on the concept of control Lyapunov functions, and the problem is reduced to input-to-state stabilization with respect to the parameter estimation error considered as the input. The approach abandons the certainty equivalence principle by relying on stabilization by controllers that guarantee system's state boundedness whenever the parameter estimates and their derivation are bounded.