Key Facts
Contact Prof. Dr.-Ing. Florian Holzapfel
Michael Marb, M. Sc.
Language of Instructions German/English
Language of Materials English
Type / ECTS Lecture, Exercise / 3 (Elective Lecture Module)
Semester Winter Semester
Time and Place (2022W) Lecture: Wednesdays, 10.15-11.45, MW 3618 (TUM-Online)
Exercise: Wednesdays, 12.00-12.45, MW 3618 (TUM-Online)
Prerequisites Required: none


Content / Educational Objectives The Model Reference Adaptive Control (MRAC) design strategy offers various methods to design controllers for systems with inherent uncertainties and/or nonlinearities while maintaining superior reliability and performance compared to classical design strategies.
Significant progress in the fields of stability and robustness analysis for adaptive systems enabled the use of these techniques in flight control applications, which were also successfully demonstrated in various flight tests.Specifically the following topics will be addressed:
– Mathematical Preliminaries
– Classical Model Reference Adaptive Control (direct and indirect)
– MRAC with Closed-Loop Reference Models
– Neural Networks
– Concurrent Learning Adaptive Control
– Command Governor Based Adaptive Control
– L1 Adaptive ControlIn each chapter the presented theory is demonstrated using aerial applications.
Teaching Methods / Materials
  • Powerpoint Presentation including whiteboard
  • Lecture Notes
  • Simulations with Matlab / Simulink
  • Live demonstration of implementations using quadrotors
Exam Oral Exam; 30 minutes; closed book
Reference Literature
  • “Nonlinear and adaptive control design” – Miroslav Krstić, Ioannis Kanellakopoulos, Petar V. Kokotović
  • “L1 Adaptive Control Theory: Guaranteed Robustness with Fast Adaptation” – Naira Hovakimyan,Chengyu Cao
  • “Nonlinear Systems” – Hassan K. Khalil
  • “Stable Adaptive Systems” – Kumpati S. Narendra, ‎Anuradha M. Annaswamy

This lecture is part of the Munich Aerospace Teaching Collaboration.