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The signals in the variable structure law are bounded. Therefore, the adaptive control assures a global stability [4]. v1 ΦT H m(s) e0 + ec θT L -1(s) L -1(s) ξθ1T - ea + H m(s)L(s) +- + ξ1T ξ1 Figure 8. The block diagram of the augmented error determination...