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Publication: IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences Publication Date: 2007/10/01 Vol. E90-ANo. 10pp. 2239-2247 Type of Manuscript: Special Section PAPER (Special Section on Nonlinear Theory and its Applications) Category: Systems Theory and Control Keyword: adaptive control, decentralized nonaffine nonlinear system, radial basis neural network (RBNN),