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A unified solution to adaptive approximation-based control for nonlinearsystems with accurate and inaccurate state measurement is synthesized in thisstudy. Starting from the standard adaptive approximation-based controller withaccurate state measurement, its corresponding physical interpretation,stability conclusion, and learning ability are rigorously addressed when facingadditive measurement inaccuracy, and explicit answers are obtained in theframework of both controller matching and system matching. Finally, it provesthat, with a certain condition, the standard adaptive approximation-basedcontroller works as a unified solution for the cases with accurate andinaccurate measurement, and the solution can be extended to the nonlinearsystem control problems with extra unknown dynamics or faults in actuatorand/or process dynamics. A single-link robot arm example is used for thesimulation demonstration of the unified solution.

Adaptive Approximation-Based Control for Nonlinear Systems: A Unified Solution with Accurate and Inaccurate Measurements