Reddit reviews Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques
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This is a great text that covers adaptive control using neural and fuzzy approximators:
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https://www.amazon.com/Adaptive-Control-Estimation-Nonlinear-Systems/dp/0471415464/ref=sr_1_4?keywords=kevin+passino&qid=1550449828&s=books&sr=1-4-spell
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One of the authors also has code from the book on his website:
http://www2.ece.ohio-state.edu/~passino/SACENSbooksoftware/file_index.html