~~NOTOC~~
====== Progression of Course Material ======



===== Time Line =====
---------------------

The class will be modified slightly from the last time it was taught.  We will mostly follow what is below, but some additional topics may be added. Additionally, there is a non-lecture reading track that will have associated homeworks. The reading track should be read prior to the week listed / by the commencement of the week listed. Additional notes to complement the reading may be added.

**Key:** H - Hovakimyan, IS - Ioannou and Sun, L - Lecture Notes

|  ^  Tue:Math  ^  Thu:Control  ^ Reading  ^ References  ^
^ Week 01 |  Syllabus \\ Intro     |  Adaptive Structure \\ Simple Example    |      | H:Intro |
| :::     |     :::     |  ::: | :::  | L:00 |
|
^ Week 02 |  Norms \\ Boundedness  |  Scalar DMRAC      | Continuity,  Lipschitz Continuity, Differentiability, etc. | H:1.1,4.3,5,7.1 |                                                     
| :::     |  :::  |  :::  | :::  | L:01,07 | 
|
^ Week 03 |  Boundedness (ctd) \\ Trapping Region       |  Barbalat's Lemma \\ Lyapunov Methods          | Existence of Solutions | H:1.2, H:2.1 |
| :::     |    :::   |  :::   | :::  | L:02,03,06p12-14 |
|
^ Week 04 |  Boundedness (ctd) \\ Comparison Lemma \\ Properties of Solutions         |  Lyapunov \\ Methods (ctd)  | Nonlinear Stability | H:2.2 |
| :::     |  :::  |   :::    | ::: | L:04  |
| :::     |  :::  |   :::    | ::: | :::    |
| :::     |  :::  |   :::    | ::: | ::: |
|
^ Week 05 |  Lyapunov Method Examples \\ Invariant Sets  |  SISO DMRAC  | | H:2.3 |
| :::     |  :::  |  :::         | ::: | L:05, 08 | 
|
^ Week 06 |  LaSalle and Invariant \\ Set Theorems  |  MIMO DMRAC  | | H:3,10.1  |
| :::     |  :::  |  Augmenting a Nominal Controller         | :::  | L:08 |
|
^ Week 07 |  Time-Varying Lyapunov Theory  |  Convergence of DMRAC   |  Augmentation of a Nominal PI Controller  | H:4,8, 10.2, 10.3 |
| :::     |  :::  |  Persistency of Excitation                      | :::                      | L:09 |
|
^ Week 08 |  Time-Varying Lyapunov Theory     |  Perturbations and \\ Parameter Drift  |  :::  | H:11 \\ L:09 |
| :::     |  :::  |  :::   |  :::  |  :::  |
| :::     |  :::  |  DMRAC Modifications \\ $\sigma$- and e-Mod  | :::  | ::: |
| :::     |  :::  |  :::   |  :::  |  :::  |
|
^ Week 09 |  Convex Functions      |  Projection Operator  | | H12, L:10 |
|
^ Week 10 |     |  Disturbance Rejection  | Composite Adaptation  | H:14, L:06,10 |
|
|
|  ^  Tue:Topic  ^  Thu:Topic  ^ Reading  ^ References  ^
^ Week 11 |  RBF Networks \\ Approximation Theory  |  Neuro-Adaptive Control   |    | L:13 |
|
^ Week 12 |  Neuro-Adaptive Control  |  Backstepping   | | L:12 |
|
^ Week 14 |  Adaptive Backstepping  |  Input Constraints  | | H:9, L:11 |
|
^ Week 13 |   Input Constraints  |  Least Squares  | | H:9, L:11 |
|
^ Week 15 |  Concurrent Learning (CL)  |  CL-DMRAC  | | L:XX |
|
^ Week 16 |    |   Adaptive Output Feedback Control  | | H:16, L:XX |
|
^ Week TBD |    |   $L_1$-Adaptive Control  | | H:17, L:XX |



===== Homeworks =====
---------------------

The homework may also include related topics that are minor extensions of material covered. Though not explicitly part of lecture, they should follow directly from what was covered, and are reasonable to complete as a homework assignment.


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