Based on the conventional backstepping control scheme, a novel hybrid control law is presented which merges the advantages of the model-dependent and the intelligent-technique based model-free schemes. Further, anadaptive compensator term is also considered which provides the powerful robustness in the direction of the uncertainties that includes the reconstruction error and uncertain disturbances. By using the online adaptation of the parameters, stability analysis is performed and the complete system is asymptotic stable. The robustness and validity of the presented control technique are shown by the comparative computer simulation tests.