Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. It offers a rigorous treatment of adaptive system stability.
From the reviews:
“The authors start with a subjective ‘overview of adaptive control’ and ‘literature review’ ... underlying the limitations of the existing adaptive control algorithms and motivating the concepts presented in the book. ... Safe adaptive control by Stefanovic and Safonov may be recommended to any control engineer active in the adaptive control field.” (Jacek Kabziński, Mathematical Reviews, Issue 2012 b)