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文中研究了系数不等的三角型非线性系统，给出了同时包含非线性项不确定性和扰动不确定性系统的自适应控制设计过程，并证明了其稳定性，最后通过仿真示例验证了这种方法的有效性
In this paper, a triangular nonlinear system with unequal coefficients is studied, and an adaptive control design process is presented, which includes both nonlinear term uncertainties and disturbance uncertainties. The stability of the system is proved. Finally, the simulation results show that The effectiveness of this method