Implementation of adaptive hyperplanes for the determination of robust control (Q1357882)

This paper is concerned with the control of uncertain, nonlinear, discrete-time input-output systems. The linear approximation approach is assumed added with extra correction terms intended to tune the linear model to the results of some measurements. A quadratic performance index is used in order to compute the control signal. In my opinion this is an extremely poor paper which under a mess of mathematical notations brings in few void ideas and has no robotic significance whatsoever. In particular, contrary to what has been announced, the paper neither treats the case of time-varying systems, nor addresses any robust control problem. Basic expressions, like (13) and (36-40), including the derivation of the control algorithm, are wrong. The authors apparently have difficulties with differentiation of quadratic functions. Two robotic examples are likely intended to serve as an excuse of submitting this paper to a robotic journal. It is stated that this paper was accepted in final form within two weeks from its submission, i.e., it has hardly been reviewed at all.