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An adaptive system for linear systems with unknown parameters is a nonlinear system. The analysis of such adaptive systems requires similar techniques to analyse nonlinear systems. Therefore it is natural to treat adaptive control as a part of nonlinear control systems. Nonlinear and Adaptive Control Systems treats nonlinear control and adaptive controlin a unified framework, presenting the major results at a moderate mathematical level, suitable for MSc students and engineers with undergraduate degrees. Topics covered include introduction to nonlinear systems state space models describing functions forcommon nonlinear components stability theory feedback linearization adaptive control nonlinear observer design backstepping design disturbance rejection and output regulation and control applications, including harmonic estimation and rejection inpower distribution systems, observer and control design for circadian rhythms, and discrete-time implementation of continuous-timenonlinear control laws