Summan 1. Nonlinear Nature of Adaptive Systems Local properties Global properties Complicated behavior 2. Adaptive Feedforward Much simpler Linear but time-varying Periodic case tractable Also complicated, not as bad as 1 3. Direct STR Use special properties · Assumptions required 4. Next we will exploit difference in time scale O K.J.Astrom and BWittenmarkSummary 1. Nonlinear Nature of Adaptive Systems • Equilibria • Local properties • Global properties • Complicated behavior 2. Adaptive Feedforward • Much simpler • Linear but time-varying • Periodic case tractable • Also complicated, not as bad as 1 3. Direct STR • Use special properties • Assumptions required 4. Next we will exploit difference in time scales c K. J. Åström and B. Wittenmark 7