# Adaptive Techniques for Mechanical Systems

Strict Lyapunov functions are constructed for a class of nonlinear feedback compensated mechanical systems, requiring no à priori information concerning the initial conditions of the closed-looped system. These Lyapunov functions may be used to design a stable adaptive version of the “computed-torque” algorithm for tracking a reference trajectory. A particular Lyapunov function is then generalized to permit an adaptive version of control scheme forced by reference dynamics rather than reference trajectory.