Stability of characteristic model based golden-section control for a class of uncertain nonlinear systems

This paper investigates the stability of the characteristic model based golden-section adaptive control. For a class of second-order uncertain nonlinear systems, we derive the characteristic model and give the corresponding golden-section adaptive control. The stability of the corresponding closed-loop system is proved, and the state steady error is given. This result improves the previous works (see, e.g. [1]) in removing the persistent excitation condition, and lays theoretical foundations for the practical applications of the golden-section adaptive control.