Nonlinear and Adaptive Control Design


Miroslav Krstic
Ioannis Kanellakopoulos
Petar Kokotovic


John Wiley and Sons, 1995


From Wiley's backcover: An introduction to the new design
for nonlinear control systems -- BACKSTEPPING -- written by its own architects.


This innovative book breaks new ground in nonlinear and adaptive control design for systems with uncertainties. Introducing the recursive backstepping methodology, it shows -- for the first time -- how uncertain systems with severe nonlinearities can be successfully controlled with this new powerful design tool.


Communicative and accessible at a level not usually present in research texts, "Nonlinear and Adaptive Control Design" can be used as either a stand-alone or a supplemental text in courses on nonlinear or adaptive control, as well as in control research and applications. It eases the reader into the subject matter, assuming only standard undergraduate knowledge of control theory, and provides a pedagogical presentation of the material, most of which is completely new and not available in other textbooks.


Written by the creators of backstepping, the book:

Table of Contents:

CHAPTER 1 Introduction
CHAPTER 2 Design Tools for Stabilization
CHAPTER 3 Adaptive Bacstepping Design
CHAPTER 4 Tuning Functions Design
CHAPTER 5 Modular Designs with Passive Identifiers
CHAPTER 6 Modular Designs with Swapping Identifiers
CHAPTER 7 Output-Feedback Design Tools
CHAPTER 8 Tuning Functions Designs
CHAPTER 9 Modular Designs
CHAPTER 10 Linear Systems
A Lyapunov Stability and Convergence
B Input-Output Stability
C Input-to-State Stability
D Passivity
E Parameter Projection
F Nonlinear Swapping
G Differential Geometric Conditions

Errata sheet for the first printing.

563 pages, hardcover
ISBN 0-471-12732-9

Price: $84.95

Order from:
John Wiley and Sons, Inc.
Attn: E. Covington
605 Third Avenue
New York, NY 10158-0012


ORDER from



Return to Professor Krstic’s home page                expert witness control systems