I&I Adaptive Control: Tools and Examples

Abstract

In this chapter it is shown how the I&I methodology can be used to develop a novel framework for adaptive stabilisation of nonlinear systems with parametric uncertainties that is not certainty equivalent and does not rely on the assumption of linear parameterisation. A key step is to add to the classical certainty-equivalent control law a new term that, together with the parameter update law, is designed to achieve adaptive stabilisation. The role of this new term is to shape the manifold into which the adaptive system is immersed.