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Appendix A Proof of Theorem 2.1.1 The error dynamics defined in Eq. (2.8) can be expressed as follows: & = det Blvee tu, — A) = det BIW -~ WTS e+) where ¢ is the NN reconstruction error defined in Eq. (2.23). Using a Taylor-series expansion for & with respect to VTX, Eq. (A.2) can be rewritten as é TR) core (a3) +WTEVTR-e+ w+} where WTO2(0TR) + WTS.VTR vev-v (Aa) W=Ww-w O(-)? represents 2nd and higher order terms of the Taylor-series expansion for &. OF = -6 +6,0V7R (A.5) The adaptive signal (vgq) can be shown to be bounded as follows Weall = VTS) (bu +7)/,W7 S (bw + n2)/|21] S\$ (bu +m2)(Z + 112) (A.6) 108 Reproduced with permission of the copyright owner. Further reproduction prohibited without permission The inputs to the NN are also bounded HRI] = Mlb eT 23, 2, £3, 28 8 ve (ZI Sem + erl|2| + lll where 0 = by + Fe + (1+ by +M2)Z c= 1+by +m The following conditions are used for the proof. El < Na" I] + El] < Abu + n2) Gell \$ a(by + 12)(1 + by + ra) Then NO] = |-o+ S184 + (est AI Set call? + calZll + colZllilell where €2 = Abu +12) 3 = a(by + n2)cf 4 = a(by + n2)eoer 5 = a(by + na)er Using above properties, it follows that ||w| is bounded as follows wll < [Wet 0°70 TR) + WTS. TR \$ NOW ay] + Zi) ZNe-Hxl Sc + erl|ZIP? + callZI| + collZilllell where =e cy = 22eq ca = 2Zey o = 225 109 Reproduced with permission of the copyright owner. Further reproduction prohibited without permission. (Az) (A8) (A.9) (A.10) (Aa) (a2) (A.13) Consider the candidate Lyapunov function 1 - L(e,V,W) = Se" Pe + See(V 507} ae (Aaa) + gwry WT} Using Eq's. (2.10), (2.33), and (A.3), the time derivative for the Lyapunov candidate funetion can be expressed as ~llelP + G(w + v- ~ 6) ~ Alclite{Z*Z} (A.5) Substituting the robustifyi W212 ~ ZIP, in Eq. \g term and using the triangular inequality, —tr{Z™Z} < 15) gives i <= llell? + Ice + thull) = AICHZICZ1) - 2) (A.16) = Kalle’ — Kraltlllel(UZIl + 2) Substituting Eq. (A.12) into Eq, (A.16), using an inequality condition. |\¢l] < Wlelll| PBI], and a(PB)]lell < ||¢|| where ¢ represents the minimum singular value, and the trian- gular inequality, ||Z|| > {|Z|| — 2, yields L < ~agllel|* — aifel| — (Kr — e9)11Z lle Cll (a.17) where @ =1 + Kyog?(PB) s aa =, (A.18) ay =||PBI{E + co + crl|ZIP + (cx + AZ)IIZI} - a PB)|ZIP° Thus selecting K’,, > cy allows one to eliminate the last term of Eq. (A.17). This condition is sufficient to show that L is negative semidefinite when |{el| > |a:/ao| Therefore, by LaSalle theorem, e(t) and Z(t) remain bounded. 0 Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.