Adaptive Control of Time-Varying Nonlinear Systems
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The task of this chapter is to introduce a new scheme to design adaptive controllers for single-input single-output uncertain time-varying systems in the presence of unknown bounded disturbances. No knowledge is assumed on the sign of the term multiplying the control. The control design is achieved by introducing certain well defined functions, estimating variation rates of parameters and incorporating a Nussbaum gain. To overcome the problem of overparametrization, tuning functions, which are different from the standard ones in  due to the use of projection operations, are employed. It is shown that the proposed controller can guarantee the whole system stable.
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