## Applied Nonlinear ControlNonlinear systems analysis - Phase plane analysis - Fundamentals of Lyapunov theory - Advanced stability theory - Describing function analysis - Nonlinear control systems design - Feedback linearization - Sliding control - Adaptive control - Control of multi-input physical systems. |

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achieved actually adaptation law adaptive control analysis applications approach assume asymptotically stable behavior bounded called chapter choice components computed condition Consider constant continuous control design control input control law control system convergence corresponding defined derivative describing function desired determine differential discussed dynamics easily effects equation equilibrium point estimation Example exists exponentially expression extended Figure filter frequency gain given global guarantee implies initial integration interesting internal dynamics known leads lemma limit cycle linear systems Lyapunov function manipulator mass matrix measurement method nonlinear control nonlinear system Note obtain origin output parameter parameter estimation performance phase physical plane plant positive positive definite presence problem properties reference relation relative represents response result robot satisfy scalar shown signal simple specific stability techniques term theorem time-varying torque tracking error trajectory transformation uncertainty unknown vector zero