Triangular Nonlinear Systems
In the past decade, adaptive backstepping  has become one of the most popular design methods for adaptive nonlinear control because it can guarantee global stabilities, tracking, and transient performance for the broad class of strict-feedback systems with unknown parameters . For the case when both unknown nonlinear functions and/or parametric uncertainty are present in the systems, adaptive neural control schemes were recently presented [147, 151, 192].
KeywordsVirtual Control Lyapunov Function Candidate MIMO Nonlinear System Unknown Nonlinear Function Virtual Control Input
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