NONLINEAR AND ADAPTIVE CONTROL DESIGN
                        Miroslav Krstic
                    Ioannis Kanellakopoulos
                        Petar Kokotovic

    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, assum-
ing  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:

* Introduces the basic design tools and demonstrates their effec-
  tiveness through worked examples

* Provides  detailed  proofs  and  application  examples  (active
  suspension, jet engine, induction motor, ...)

* Develops adaptive backstepping, tuning functions,  and  modular
  designs with full state feedback

* Generalizes the methodology to systems with output feedback

* Describes the advantages of the new  adaptive  nonlinear  tech-
  niques over traditional methods

* Offers a systematic methodology for performance improvement

* Provides new designs for linear systems which can be  used  in-
  dependently from the rest of the book

* Is self-contained with an extensive summary  of  stability  and
  passivity prerequisites

* Includes sixty illustrations and tables with design algorithms


                Table of Contents:
                ------------------

        CHAPTER 1       Introduction

PART I        STATE FEEDBACK
        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

PART II       OUTPUT FEEDBACK
        CHAPTER 7       Output-Feedback Design Tools
        CHAPTER 8       Tuning Functions Designs
        CHAPTER 9       Modular Designs
        CHAPTER 10      Linear Systems

APPENDICES
        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