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	適応制御	バックステッピング制御
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	1983	1995
提唱者	Karl J. Astrom	Miroslav Krstic
種類	algorithm	algorithm
原典	Astrom, K. J., & Wittenmark, B. (1983). Computer-Controlled Systems: Theory and Design. Prentice Hall.	Krstic, M., Kanellakopoulos, I., & Kokotovic, P. (1995). Nonlinear and Adaptive Control Design. John Wiley & Sons.
別名	Self-Tuning Control, Parameter Estimation Control	Integrator Backstepping, Recursive Lyapunov Design
関連	3	3
概要	Adaptive Control is a control strategy that adjusts controller parameters in real-time based on online system identification to maintain performance despite changing plant dynamics or uncertain parameters. Pioneered by Astrom and Wittenmark, adaptive control enables robust operation in time-varying environments, from aircraft with fuel depletion to industrial systems with aging components.	Backstepping is a systematic nonlinear control design method that decomposes a complex nonlinear system into simpler subsystems and designs a controller recursively, layer by layer, ensuring stability at each step. Developed by Krstic, Kanellakopoulos, and Kokotovic, backstepping enables control of nonlinear systems without requiring exact model knowledge or full state linearization, combining flexibility with guaranteed stability.