Algorithms for nonlinear control design: controllers that exploit or cancel plant nonlinearities with stability guarantees.
| Algorithm | Description |
|---|---|
| Backstepping Control | Lyapunov-based recursive design for strict-feedback nonlinear cascades that stabilises each integrator stage in sequence, yielding a provably stable controller by construction |
| Feedback Linearization | Cancels a control-affine plant's known nonlinear dynamics via an inner control law, leaving decoupled integrator chains that a simple outer PD/LQR loop drives |
| Model Reference Adaptive Control | Online gradient-descent adaptation of control gains to match plant response to a stable reference model, with Lyapunov stability guarantee for bounded error under unknown plant parameters |