Addendum to "W-stability and local input-output stability results"

A stable adaptive controller is developed for a class of non-linear multivariable systems using nonlinearly parametrized function ap-proximators. By utilizing the system triangular property, integral-type Lya-punov functions are introduced for deriving the control structure and adap-tive laws without the need of estimating the “decoupling matrix” of themultivariable nonlinear system. It is shown that stability of the adaptiveclosed-loop system is guaranteed, and transient performance is analyticallyquantified by mean square and tracking error bound criteria.