Adaptive Neural Control of Nonaffine Nonlinear Systems without Differential Condition for Nonaffine Function

<div>Tracking error <svg height="9.14241pt" id="M422" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 10.383 9.14241" width="10.383pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="414" vert-adv-y="414"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,5.317,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> in Example <a href="https://static.hindawi.com/articles/mpe/volume-2016/4085929/figures/#ex1">1</a>.</div>

Mathematical Problems in Engineering

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Figure 2: Adaptive Neural Control of Nonaffine Nonlinear Systems without Differential Condition for Nonaffine Function 