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Finally, the proposed resilient control techniques are validated via an electromechanical servo-system, and an aircraft system.This paper proposes a saturated smooth adaptive controller for regulating a certain type of underactuated Euler-Lagrange systems (UELSs) with modeling uncertainties and control saturations based on a singular perturbation approach. Compared with relevent literature, the advantages of the proposed controller include (1) it renders the UELS semiglobally asymptotically track the desired position without the violati
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