Robustness of Adaptive Nonlinear Control to Bounded Uncertainties

R. A. Freeman*, M. Krstić, P. V. Kokotović

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

75 Scopus citations


Two robust adaptive control methods are outlined for a class of nonlinear systems. The first method is based on the tuning function design of Krstić et al. (1992), and the second method is based on the modular design of Krstić and Kokotović (1995). Both methods guarantee robustness with respect to bounded uncertainties and exogenous disturbances, and L/L2 estimates are given on the effects of these uncertainties/disturbances on the tracking error.

Original languageEnglish (US)
Pages (from-to)1227-1230
Number of pages4
Issue number10
StatePublished - Oct 1998


  • Adaptive control
  • Disturbance rejection
  • Nonlinear systems
  • Recursive approaches
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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