Before revision:  We also show that the framework is applicable to adaptive control of dynamical systemsmodeled via basis function approximation  .
After revision:  We also show that the framework is applicable to adaptive control of dynamical systemsmodeled via basis function approximation methods. We show using contraction theory that aNCM ensures exponential boundedness of the distance between the target and controlled trajectories even under the presence of the parametric uncertainty, robustly to the learning errors caused by aNCM approximation as well as external additive disturbances .