The paper addresses two complementary problems. The first one is to derive a rigorous formulation of adaptive control when the parameters of the plant are time-varying. To make the problem tractable, the time-variation is approximated by a piecewise-constant function assuming a finite number N of unknown values. The instants at which the parameters switchâ€¦ (More)

Many concepts of linear control theory can be extended to the nonlinear domain provided one restricts oneself to a neighborhood of the equilibrium. But what happens beyond that neighborhood? The paper addresses this question for the special case of a system defined on a compact boundaryless manifold.