Universal adaptive stabilization approaches to nonlinear control

The paper outlines the ideas of adaptive stabilization developed over the past decade. Adaptive stabilization uses nonlinear feedback to cope with extreme uncertainty in systems dynamics and provides a theoretical guarantee of stability despite this uncertainty. The prime purpose of the paper is to highlight the potential for nonlinearities in the control element for coping with uncertainty in a linear or nonlinear feedback system. The possibility of application to iterative trajectory learning systems is also discussed