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We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control. The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem. The stability of the closed-loop system is analyzed using the Lyapunov method. The effectiveness of our proposed method is validated with a numerical example.<\/jats:p>","DOI":"10.1155\/2020\/3649472","type":"journal-article","created":{"date-parts":[[2020,2,26]],"date-time":"2020-02-26T18:31:22Z","timestamp":1582741882000},"page":"1-13","source":"Crossref","is-referenced-by-count":0,"title":["Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9959-6948","authenticated-orcid":true,"given":"Duo-Qing","family":"Sun","sequence":"first","affiliation":[{"name":"Institute of Mathematics and Systems Science, Hebei Normal University of Science and Technology, Qinhuangdao, Hebei 066004, China"},{"name":"Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190, 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