Abstract
This paper presents a novel approach to the design of adaptive stabilizing controllers for nonlinear systems with unknown degrees and uncertain relative degrees. Contrary to the previous researches where the degrees and relative degrees of systems are known, the degrees in the present paper are completely unknown, and the relative degrees are partly unknown; that is, the relative degrees are known to be r , r + 1, or r + 2 with known r . It is shown that the proposed adaptive controllers stabilize nonlinear systems of unknown degrees without exact knowledge of relative degrees, and that the outputs converge to zero asymptotically.
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