Krstic M. Kanellakopoulos I. Kokotovic P.V. Nonlinear and Adaptive Control Design

Wiley, New York, 1995. — 563 p. — ISBN: 0-471-12732-9.
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.