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Abstract: Robustness with respect to model uncertainty in the author's previously reported approach to adaptive feedback linearization using multivariable spline functions is addressed by incorporating a dead-zone into the estimator. A side-effect of the dead-zone is improved computational complexity of the controller. Steady-state performance in terms of tracking error is addressed by inserting additional knot points into the splines of the controller. A numerical example illustrates the controller synthesis and the improvement in performance attained with knot insertion.