Szukana fraza: [Abstract = "The overall controller consists of an indirect adaptive controller and a supervisory controller. The former is the dominant controller, which maintains the closed\-loop stability when the fuzzy system is a good approximation of the nonlinear plant. The latter is an auxiliary controller, which is activated when the tracking error reaches the boundary of a predefined constraint set. It is proven that global stability of the closed\-loop system is guaranteed in the sense that all the closed\-loop signals are bounded and simulation examples demonstrate the effectiveness of the proposed control scheme."]

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