A direct adaptive control method is presented for a class of nonaffine nonlinear systems using multilayer neural networks (MNNs). The proposed controller ensures that the output of the system tracks a given bounded reference signal and the output tracking error converges to an /spl epsiv/-neighborhood of zero, while the stability of the closed-loop system is guaranteed by Lyapunov's stability theory.
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Zhang et al. (1998) studied this question.
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