EE 852 Adaptive Control  
Spring 2006

Instructor: Prof. Andrea Serrani.
Office: 412 Dreese Lab. (email:

Course Schedule:  Tuesday, Thursday 4:30pm-5:48pm 139 Caldwell Labs .

Please note: The official web page of the course is developed on Carmen. Registered students may access all the additional information on the course there, including notes, homework sets, solutions, and the update syllabus.

Course Goals:
To give a broad (although necessarily incomplete) overview of adaptive control for linear and nonlinear systems. The focus of the course is not on giving a painfully detailed description of several techniques, rather on introducing fundamental concepts and issues in the analysis and design of adaptive control systems. 

Course description:
Adaptive control for linear and nonlinear systems. Adaptive observers. Model reference adaptive control. Convergence and stability of adaptive systems. Robustness issues and robust redesign. Manifolds of slow adaptation, and two-time scale analysis. Adaptive backstepping design for nonlinear systems. Applications.

Prerequisites: EE750 and EE754 


  1. Notes.
  2. P. Ioannou and J. Sun. Robust Adaptive Control. Prentice Hall, Upper Saddle River, NJ, 1996.
  3. S.S. Sastry and M. Bodson. Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall, Upper Saddle River, NJ, 1989.
  4. A. Isidori, L. Marconi, and A. Serrani, Robust Autonomous Guidance. An Internal Model Approach. Springer-Verlag, 2003.
References include:
  1. E. Panteley, A.Loria. and A.R. Teel. Relaxed persistency of excitation for uniform asymptotic stability. IEEE Transactions on Automatic Control, 46(12):1874-1886, 2001.
  2. M. Krstic. Invariant manifolds and asymptotic properties of adaptive nonlinear stabilizers. IEEE Transactions on Automatic Control, 41(6):817 - 829, 1996.
  3. P. Ioannou and P. Kokotovic. Robust redesign of adaptive control. IEEE Transactions on Automatic Control, 29(3):202- 211, 1984.
  4. B. Riedle and P. Kokotovic. Integral manifolds of slow adaptation. IEEE Transactions on Automatic Control, 31(4):316- 324, 1986.
  5. R. Ortega and Y. Tang. Robustness of adaptive controllers. A survey. Automatica, 25(5):651-677, 1989.
  6. M.W. Spong and R. Ortega. On adaptive inverse dynamics control of rigid robots. IEEE Transactions on Automatic Control, 35(1):92-95, 1990.
  7. I. Kanellakopoulos, P.V. Kokotovic, and A.S. Morse. Systematic design of adaptive controllerr for feedback linearizable systems. IEEE Transactions on Automatic Control, 36(11):1241-1253, 1991.
  8. M. Krstic, I. Kanellakopoutos, and P. V. Kokotovic. Adaptive nonlinear control without over-parameterization. Systems & Control Letters, 19(3):177-185, 1992.
  9. M. Krstic and P. V. Kokotovic. Control Lyapunov functions for adaptive nonlinear stabilization. Systems & Control Letters, 26(1):17-23, 1995.
  10. H.K. Khalil. Adaptive output feedback control of nonlinear systems represented by input-output models. IEEE Transactions on Automatic Control, 41(2):177-188, 1996.
Grading:  Homework 40% , Take-home final 60%.

Course outline
  1. Overview of Adaptive Control Systems. Direct and indirect adaptive control. The principle of certainty-equivalence.
  1. Advanced tools for stability of non-autonomous nonlinear systems. Definitions. Converse Lyapunov theorems. LaSalle/Yoshizawa theorem. Passivity theory. Zero-state detectability. Positive real and strictly positive real transfer functions. Kalman-Yakubovich-Popov lemma. 
  1. Stability of prototypical adaptive control systems. The role of the persistency of excitation condition. Uniform observability. Exponential convergence vs. exponential stability and uniform asymptotic stability.
  1. Adaptive observers for linear systems. Systems in adaptive observer form. Filtered transformations.
  1. Model reference adaptive control. Paramterization of the certainty-equivalence controller. MRAC schemes for linear systems with relative degree one and two. Uniform global asymptotic stability of MRACs: uniform persistency of excitation condition .
  1. Adaptive controllers for nonlinear systems. Adaptive backstepping. Design with overparameterization. Tuning functions method. Output-feedback design.
  1. Geometric theory of adaptive systems. Invariant manifold techniques. Slow adaptation.Two-time scales and averaging. 
  1. Robust redesign of adaptive control systems. Robustness of adaptive systems. Dead-zone and projection-based techniques.
  1. Selected topics. The adaptive regulator problem. Adaptive internal model design.

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