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In this paper, adaptive wavelet neural network control (AWNNC) is proposed for a class of non-affine nonlinear systems with unknown nonlinearities. The adaption laws of the system are derived in the sense of Lyapunov function and Barbalet's lemma. Thus, the stability of the closed loop system is ensured and the tracking error asymptotically converges to zero. To show the effectiveness of the proposed scheme, a Van der Pol oscillator system is chosen as a case study. Simulation results show that the proposed controller can achieve good tracking performance and all the signals in the closed loop system are bounded.