Abstract: A new adaptive output-feedback controller is proposed for a class of linearly parameterized nonlinear systms with bounded disturbances. The controller can guarantee the global boundness of all closed-loop signals. The results we have obtained extend the existing results in the field of adaptive output-feedback nonlinear control from no disturbance cases to cases with bounded disturbances. The simulations are given to show the effect of the designed controller,

Key words: linearly parameterized nonlinear system, adaptive output-feedback, global boundness