“…For simplicity, ( 14)-( 15) is rewritten as follows θ = S(𝜗, e, 𝜛), (18) ̇e = F(e) + G ū + D(𝜗, e, 𝜛), (19) where F(e) = ΨNe, G = b, D(𝜗, e, 𝜛) = g(z, e, 𝜛) + bΨ𝜂 is the uncertain part. | ū| ≤ ūM is the feedback controller, and ūM is its constraint band.…”