Ghanadan, RezaBlankenehip, Gilmer L.In this paper we discuss some initial results on the adaptive tracking of MIMO nonlinear systems which do not have a well defined vector relative degree. First, we consider systems that are right-invertible with linear parametric uncertainty in their dynamics. Second, we consider the case where the system is not necessarily invertible. Simulation results for both schemes are presented.en-USalgorithmsadaptive controlaircraftgeometric controlnonlinear systemsSystems IntegrationTechnical Report