M. Bahita  , K. Belarbi  , 
    Direct Adaptive Control of Nonlinear Systems Using Radial Basis Function Network,
    Journal of Engineering and Applied Sciences,
    Volume 1,Issue 3,
    2006,
    Pages 262-267,
    ISSN 1816-949x,
    jeasci.2006.262.267,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2006.262.267)
    Abstract: In this study we propose a direct adaptive control scheme for a class of nonlinear systems. The architecture is based on radial basis functions, RBF, network to construct the adaptive controller. The parameters of the adaptive controller are changed according to a law derived using Lyapunov stability theory and the center of the of the RBF are adapted using the k-means algorithm. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Computer simulations are presented to show the validity and the performance of the proposed method.
    Keywords: Radial Basis Function network;adaptive control;nonlinear systems