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The paper [TF19] proposes a data-driven control technique for single-inputsingle-output feedback linearizable systems with unknown control gain byrelying on a persistency of excitation assumption. This note extends thoseresults by showing that persistency of excitation is not necessary. We referthe readers to the papers [TMGA17, TF19] for more background and motivation forthe technical results in this note. Conceptually, the results in this note weregreatly inspired by the work of Fliess and Join on intelligent PID controllers,e.g., [FJ09]. Technically, we were inspired by the work of Nesic and co-workerson observer and controller design based on approximate models [AN04, NT04] andby the work of Astolfi and Ortega on Immersion and Invariance [AO03].

A Note on Data-Driven Control for SISO Feedback Linearizable Systems Without Persistency of Excitation