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Lv, Maolong (author), Baldi, S. (author), Liu, Zongcheng (author)This work removes the critical assumptions of continuity, differentiability, and state-independent boundedness, which are typical of compounded disturbances in disturbance observer-based adaptive designs. Crucial in removing such assumptions are a novel observer-based design with state-dependent gain in place of a constant one, and a novel...journal article 2019