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In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of exact model knowledge while simultaneously remaining robust to model uncertainty. Like most nonlinear controllers, adaptive controllers are often designed and analyzed under the assumption of deterministic full state feedback. However, doing so inherentlyarXiv:1711.09154v1 fatcat:a5lercti65awva2fii6yivxj5e