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Multilayer neural networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback-linearizable continuous-time system. The control law is defined in terms of the neural network models of system nonlinearities to control the plant to track a reference command. The network parameters are updated online according to a gradient learning rule with dead zone. A local convergence result is provided, which says that if the initial parameter errors are small enough, then the tracking error will converge to a bounded area. Simulations are designed to demonstrate various aspects of theoretical results.>
Chen et al. (Wed,) studied this question.