Wei Wang & Changyun Wen 
Adaptive Backstepping Control of Uncertain Systems with Actuator Failures, Subsystem Interactions, and Nonsmooth Nonlinearities [PDF ebook] 

In practice, actuators often undergo failures and various factors influence its effectiveness. Also due to the increasing complexity of large-scale systems, subsystems are often interconnected, whereas the interactions between any two subsystems are difficult to deal with. This book details a series of new methodologies of designing and analyzing adaptive backstepping control systems involving treatment on actuator failures, subsystem interactions and nonsmooth nonlinearities. Moreover, it discusses some interesting open issues in adaptive failure accommodation, decentralized adaptive control and distributed adaptive coordinated control.