State feedback NN control of non-affine nonlinear system with zero dynamics

This paper focuses on adaptive control of non-affine nonlinear systems with zero dynamics using multiplayer neural networks (MNNs). Through neural network approximation, MNNs are used as the emulator of the implicit desired state feedback control. The closed-loop system is proved to be stable based on Lyapunov stability theory. It is shown that the tracking error converges to an adjustable neighborhood of the origin.