In this interesting paper, a class of single input-single output nonlinear systems, whose nominal model is feedback linearizable with a minimum-phase condition, is considered.

The authors develop a semi-global adaptive output feedback controller, in the form of an adaptive state-feedback controller and a high-gain observer. The authors also study the special case of robust adaptive regulation.

The paper will be appreciated by applied mathematicians, electrical and computer engineers, and computer scientists with an interest in adaptive feedback controllers for nonlinear systems.