研究严格反馈非线性系统中参数的收敛性. 在适当的持续激励条件下, 通过构造一个显式、全局的强Lyapunov函数,
给出了系统参数估计收敛于真值的充分条件, 且闭环信号全局一致有界,跟踪误差渐近收敛于零. 仿真算例验证了设计方案
的可行性和有效性.

This paper considers the parameter convergence properties of strict-feedback nonlinear systems.  Under an appropriate persistency of excitation condition, by constructing an explicit, global, strong Lyapunov  function, a sufficient condition concerning the parameter convergence properties is given, and all the
 closed-loop  signals are globally uniformly bounded, the tracking error converges to zero asymptotically. The feasibility and  effectiveness of the proposed method is illustrated with a simulation example.