Robust Nonlinear Control Design State Space And Lyapunov Techniques Systems Control Foundations Applications [upd] -

[ \dot\mathbfx = \mathbff(\mathbfx, \mathbfu, t), \quad \mathbfy = \mathbfh(\mathbfx, \mathbfu, t) ]

Highly nonlinear, infinite-dimensional. Reduced-order state-space models (using Cosserat rods) combined with Lyapunov-based boundary control achieve stability with model uncertainty. Adaptive backstepping estimates stiffness parameters online. [ \dot\mathbfx = \mathbff(\mathbfx