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Combined with backstepping and adaptive technique, the unknown nonlinear uncertainties are approximated by the radial basis function neural network (RBF NN) in each step of the backstepping procedure. Frequency distributed model of a fractional integrator and Lyapunov stability theory are used for ensuring asymptotic stability of the overall closed-loop system under input dead-zone and saturation. Moreover, the parameter update laws with incommensurate fractional order are used in the controller to compensate unknown nonlinearities. 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