This paper considers uncertain time-varying nonlinear affine-in-control systems and presents the L1 adaptive controller for the case when the performance specifications are defined via a given time-varying nonlinear system. The L1 adaptive controller ensures that the nonlinear, affine-in-control, uncertain system follows its ideal nonlinear model during the transient and steady-state, if the adaptation gain is selected sufficiently large and the bandwidth of the low-pass filter in the L1 adaptive control architecture is adjusted appropriately.

Original languageEnglish (US)
Pages (from-to)455-463
Number of pages9
JournalSystems and Control Letters
Issue number4
StatePublished - Apr 2012


  • Adaptive control
  • Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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