Stable adaptive control for a class of nonlinear systems using a modified Lyapunov function

Investigates the adaptive control design for a class of nonlinear systems using Lyapunov´s stability theory. The proposed method is developed based on a novel Lyapunov function, which removes the possible controller singularity problem in some of the existing adaptive control schemes using feedback linearization techniques. The resulting closed-loop system is proven to be globally stable, and the output tracking error converges to an adjustable neighborhood of zero