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We present a new direct adaptive control approach for nonlinear systems withunmatched and matched uncertainties. The method relies on adjusting theadaptation gains of individual unmatched parameters whose adaptation transientswould otherwise destabilize the closed-loop system. The approach alsoguarantees the restoration of the adaptation gains to their nominal values andcan readily incorporate direct adaptation laws for matched uncertainties. Theproposed framework is general as it only requires stabilizability for allpossible models.

Dynamic Adaptation Gains for Nonlinear Systems with Unmatched Uncertainties