Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.

MIROSLAV KRST-C received his PhD from the University of California, Santa Barbara, in 1994 where he is currently a researcher in the Department of Electrical and Computer Engineering. <p> IOANNIS KANELLAKOPOULOS received his PhD in electrical engineering from the University of Illinois in 1992 and is presently an assistant professor in the Department of Electrical Engineering at the University of California, Los Angeles. <p> KOKOTOVI&Cacute; has been Co-Director of the Center for Control Engineering and Computation at the University of California, Santa Barbara, since 1991. Previously, he was with the University of Illinois, where he held the Grainger Chair. His recognition as a leading authority in control theory includes the triennial Quazza Medal by IFAC in 1990 and the 1995 IEEE Control Systems Award.