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An adaptive output feedback control scheme is proposed for a class of non-affine nonlinear system in which the output signal can track the reference signal. A state observer is constructed to estimate the unknown state in system. A three-layer neural network is introduced to compensate the modeling errors and a Robust control is also used to reduce the approximation error, which adds to the anti-interference ability of the system. The stability of the system is accurately proved. Simulation results demonstrate the effectiveness and feasibility of proposed scheme.