 This work presents an adaptive control framework for nonlinear systems with unmatched uncertainties that addresses several of the limitations of existing methods through two key innovations.
<clarity>  This work presents an adaptive control framework for nonlinear systems with unmatched uncertainties that addresses several of the limitations of existing methods through two key innovations.
 This work develops a universal adaptive control framework for nonlinear systems with unmatched uncertainties that addresses several of the limitations of existing methods through two key innovations.