This paper deals with adaptive control of a class of nonlinear systems with
a triangular structure and nonlinear parameterization. In Kojic et al. [(S
ystems Control Lett. 37 (1999) 267)] it was shown that a class of second-or
der nonlinearly parameterized systems can be adaptively controlled in a glo
bally stable manner. In this paper. we extend our approach to all nth order
systems that have a triangular structure. Global boundedness and convergen
ce to within a desired precision epsilon is established for both regulation
and tracking. Extensions to cascaded systems containing linear dynamics an
d static nonlinearities are also presented. (C) 2001 Elsevier Science Ltd.
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