The authors here provide a detailed treatment of the design of robust
adaptive controllers for nonlinear systems with uncertainties. They
employ a new tool based on the ideas of system immersion and manifold
invariance. New algorithms are delivered for the construction of robust
asymptotically-stabilizing and adaptive control laws for nonlinear
systems. The methods proposed lead to modular schemes that are easier to
tune than their counterparts obtained from Lyapunov redesign.