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The proposed method uses partial-state feedback for solving a multivariable adaptive output tracking problem. A stable adaptive control scheme is developed based on lower dimension systems decomposition of the plant high-frequency gain matrix, which guarantees closed-loop stability and asymptotic output tracking. The developed MRAC scheme has full capability to deal with plant uncertainties for output tracking and has desired flexibility to combine the advantages of full-state feedback MRAC and output feedback MRAC. The proposed partial-state feedback MRAC scheme not only expands the existing family of MRAC, but also provides new features to the adaptive control system, including additional design flexibility and feedback capacity. Based on its additional design flexibility, a minimal-order MRAC scheme is also presented, which reduces the control adaptation complexity and relaxes the feedback information requirement, compared to the existing MRAC schemes. 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