Adaptive control for a class of MIMO nonlinear systems with non-symmetric input matrix

We consider a general class of multi-input multi-output nonlinear systems with parametric uncertainty where the matrix pre-multiplying the control input is positive definite but non-symmetric. A new adaptive control law is proposed which exploits a decomposition of the aforementioned matrix into a symmetric positive definite matrix and a unity upper triangular matrix. The proposed control is shown to ensure global asymptotic tracking.