Adaptive state feedback design via immersion and invariance

In this paper, the ideas of the immersion and invariance (I&I) methodology are exploited to develop constructive adaptive control algorithms for specific classes of nonlinear systems with parametric uncertainties. The proposed approach is applied to the class of systems in so-called parametric feedback form, yielding new adaptive control laws with interesting properties. These are compared with the classical adaptive (feedback linearising) controllers by means of a practical example.