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The system is connected with two nonlinear systems  \\[ \\dot\\xi=q_1(\\xi,u),\\quad h_1=\\psi(\\xi,u)\\tag{2} \\]  and  \\[ \\dot\\zeta=q_2(\\zeta,y),\\quad h_2=\\phi(y,\\zeta)\\tag{3} \\]  whose dynamics are in general unmodeled. However, it is required that (2) has a linear structure (with an unknown Hurwitz matrix) and that the input/output behaviour of (3) satisfies suitable assumptions (in particular, the input/output gain is assumed to be known). 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