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Adaptive control is introduced to correct for uncertainty in the external disturbances and the nonlinear system characteristics. A compensating control is constructed using the drill model approach proposed by the authors [e.g., Avtom. Vychisl. Tekh., Riga 1976, No.6, 34-40 (1976; Zbl 0347.49031)] and the authors and \\textit{O. Kul'chitskij} [Vopr. Kibern., Mosk. 59, 60-70 (1985; Zbl 0589.93035)] and has the structure of a Kalman filter. 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