2.1 Optimal Control2.2 Lyapunov Stability2.3 Robust Stability Analysis2.3.1 Optimal Control for Disturbed Systems2.4 Passivity2.5 Neural Identification2.5.1 Nonlinear Systems2.5.2 Discrete-Time Recurrent High Order Neural Network2.5.2.1 RHONN Models2.5.2.2 On-line Learning Law2.5.3 Discrete-Time Recurrent Multilayer Perceptron