Adaptive nonlinear regulation: estimation from the Lyapunov equation

A stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented. It is assumed that this system is feedback stabilizable. A key feature of the method is the use of the Lyapunov equation to design the adaptive law. A result on local stability, two different conditions for global stability, and a local result where the initial conditions of the state of the system only are restricted are given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>