Uncertain nonlinear systems affine in the input are considered. It is shown that under some matching conditions these systems can be made practically stable by state feedback. We present an adaptive algorithm which renders the origin practically stable to any desired accuracy. The presented algorithms are simple and computationally cheap.
['Efstratios Skafidas', 'Alexander L. Fradkov', 'Robin J. Evans', 'Iven Mareels']
Trajectory-approximation-based adaptive control for nonlinear systems under matching conditions