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It is nontrivial to achieve global zero-error regulation for uncertainnonlinear systems. The underlying problem becomes even more challenging ifmismatched uncertainties and unknown time-varying control gain are involved,yet certain performance specifications are also pursued. In this work, wepresent an adaptive control method, which, without the persistent excitation(PE) condition, is able to ensure global zero-error regulation with guaranteedoutput performance for parametric strict-feedback systems involving fasttime-varying parameters in the feedback path and input path. The development ofour control scheme benefits from generalized t-dependent and x-dependentfunctions, a novel coordinate transformation and "congelation of variables"method. Both theoretical analysis and numerical simulation verify theeffectiveness and benefits of the proposed method.

Adaptive Control with Guaranteed Transient Behavior and Zero Steady-State Error for Systems with Time-Varying Parameters