I. Introduction
Over the years, considerable research attention has been paid to adaptive control due to its ability to identify the un-known model parameters [1]–[7]. Slotine’s adaptive control methods [2], [3] are among the most common approaches, although they require persistent excitation (PE) condition for the system states due to the use of only instantaneous data for adaptation. To relax this condition and provide exponential convergence of both tracking and parameter errors, the concurrent learning (CL) approach was recently introduced in which recorded data is utilized alongside real-time data to derive the parameter adaptation [1].