Adaptive Control of First-order Nonlinear Systems with Input Non-affine Nonlinearities

This paper addresses the adaptive control problem for a class of nonlinear systems with input non-affine nonlinearities. It is shown that the perfect adaptive stabilization is achievable when the desired trajectory is constant. For adaptive tracking control case, the output tracking error converges to a compact set whose size depends on the upper bound of the time derivative of the desired trajectory