... Orlowska-Kowalska, 20 07), according to the following equations: 4 021 ωcITTTk = (6) 0114ωξrTk= (7) ⎟⎟⎠⎞⎜⎜⎝⎛−−+=ccrcTTTTTTk 12 20 22 0 12 11 42 ωξω (8) ()1 2 2013−=cTTkkω ... Haddad, K. (1994). Adaptive versus neural adaptive control: application to robotics, International Journal of Adaptive Control and Signal Processing, Vol. 8, No. 2, pp. 22 3 -23 6. Sanner, R. ... Adaptive Control Based On Neural Network 193 )exp(uO,)(b)a-(Ou 2 ij 2 ij 2 ij 2 ij1i 2 ij=−= (35) where n,1 ,2, iL= , m,1 ,2, j L=; ijaand ijb are...