On robustness of Lyapunov-based nonlinear adaptive controllers

In this paper, we discuss robustness of a class of control Lyapunov function (CLF)-based nonlinear adaptive controllers with respect to input uncertainties. We prove that the adaptive controllers are robust with respect to monotone input nonlinearities. Moreover, we extend this result to the robust set-point regulation problem of nonlinear systems. The robustness of the controllers also confirmed by computer simulations.