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Bounded adaptive stabilization

control is designed from the condition of decreasing Lyapunov
function on the trajectories of the closed loop system. This
control may be chosen a priori bounded.
As example we consider the rotational system with nonlinear dissipative
force and disturbances which periodically depends on the angle.
We consider also the problem of evaluating unknown external periodic
torque of this rotational system.
The second example is adaptive stabilization
of the uniform transition of the pendulum on a cart.
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