Adaptive control of first-order systems with nonlinear parameterization

In this paper, an adaptive control method is presented for a class of first-order systems with nonlinear parameterization. The main features of the scheme are that a novel integral-type Lyapunov function is developed for constructing an asymptotically stable adaptive controller, and output tracking error bounds are provided to evaluate the control performance of the adaptive system. The design procedure and the effectiveness of the proposed controller are illustrated through an example study.