Text this: Adaptive predictive control using neural network for a class of pure-feedback systems in discrete time

 _    _     ______  __    __    ______            
| || | ||  /_   _// \ \\ / //  /_   _//     ___   
| || | ||   -| ||-   \ \/ //    -| ||-     /   || 
| \\_/ ||   _| ||_    \  //     _| ||_    | [] || 
 \____//   /_____//    \//     /_____//    \__ || 
  `---`    `-----`      `      `-----`      -|_|| 
                                             `-`