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The systems are of the form  \\[  \\dot x(t)=F_ 1(\\dot x(t-\\tau),\\zeta)+F_ 2(x(t),x(t-\\tau),u(t),u(t-h),\\zeta)+f(t)  \\]  where \\(\\zeta\\) is a vector of parameters. The controller is given by  \\[  u(t)=u(x(t),x(t- \\tau),c(t),r(t))  \\]  where c(t) is a vector of adjustable parameters and r(t) is an input. Adjustment by the velocity-gradient method  \\[  \\dot c(t)=-P \\text{grad}_ c B(x_ t(s),u_ t(\\theta), c(t), r(t), \\zeta) \\]  is to be chosen so that  \\[  \\lim_{t\\to \\infty} J(x_ t(s), z(t), u_ t(\\theta), r(t))=0  \\]  where J is a positive definite estimating functional. Here P is a positive definite symmetric matrix, B is the total time derivative of J in an appropriate sense, \\(z(t)=x(t)-F_ 1(x(t-\\tau),\\zeta)\\), and \\(x_ t\\) and \\(u_ t\\) are the usual symbols for x and u, respectively, over their delay intervals. 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