1 Nonlinear Adaptive Stabilization via System Immersion: Control Design and Applications

Abstract

This chapter presents a review of a recently developed methodology for the (adaptive) stabilization of nonlinear systems via state and output feedback. The method relies upon the notion of system immersion and is well-suited in applications where a controller for a reduced-order model is known and we would like to robustify it with respect to higher-order dynamics. This is achieved by immersing the dynamics of the controlled plant into the desired dynamics of the reduced-order model. The method is illustrated with several practical and academic examples.