This project is aimed to design a controller for nonlinear systems that satisfy a prescribed performance while guaranteeing close-loop stability. To do this, the controller must be designed in such a way that the transient response of the system has had these performance indices and does not exceed them. These performance indices predefine some constraints for systems’ output.A comprehensive form for the model system, the unknown dynamics of the system, consideration of a variety of constraints on the system input, usage of the time-finite method for the residence time and consideration of just one tuning parameter to reduce the computation load, are among the other benefits for the proposed...