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This system has been analyzed previously in one form or another under various assumptions. The aim of this paper is to re-derive known results in a much more straightforward manner. This is done for a supervisory control system in which the number of candidate controllers is finite, and the switching between candidate controllers is constrained to be in some sense ``slow''. These restrictions not only greatly simplify the analysis, but also make it possible to derive reasonably explicit upper bounds for the process's allowable unmodelled dynamics as well as for the system's disturbance-to-tracking-error gain. 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