  Recently it has been shown, in several settings, how to carry out adaptive
control for an LTI plant so that a convolution bound holds on the closed-loop
behavior; this, in turn, has been leveraged to prove robustness of the
closed-loop system to time-varying parameters and unmodelled dynamics. The goal
of this paper is to show that the same is true for a large class of
finite-dimensional, nonlinear plant and controller combinations.

Optimization and Control;Systems and Control;Systems and Control