Preliminary results about robust lagrange stability in adaptive non‐linear regulation

Z. P. Jiang, L. Praly

Research output: Contribution to journalArticlepeer-review


We are concerned with the problem of regulating the equilibrium point of a non‐linear system in the presence of both parametric and dynamic uncertainties. For the parametric uncertainty we propose a new adaptive controller based on a Lyapunov design and guaranteeing the global boundedness of the solution if a growth condition is satisfied. For the dynamic uncertainty we propose a new way of characterizing the unmodelled effects which encompasses some singular and regular perturbations as illustrated by our worked example. Finally we show how, by modifying the above controller, the boundedness property can be made robust to these unmodelled effects.

Original languageEnglish (US)
Pages (from-to)285-307
Number of pages23
JournalInternational Journal of Adaptive Control and Signal Processing
Issue number4
StatePublished - Jul 1992


  • Adaptive non‐linear control
  • Lagrange stability
  • Non‐linear systems
  • Robustness
  • Unmodelled effects

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Electrical and Electronic Engineering


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