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A hybrid indirect and direct adaptive fuzzy output tracking control schemes are developed for a class of nonlinear multiple-input-multiple-output (MIMO) systems. This hybrid control system consists of observer and other different control components. Using the state observer, it does not require the system states to be available for measurement. Assisted by observer-based state feedback control component, the adaptive fuzzy system plays a dominant role to maintain the closed-loop stability. Being the auxiliary compensation, H∞ control and sliding mode control are designed to suppress the influence of external disturbance and remove fuzzy approximation error, respectively. Thus, the system performance can be greatly improved. The simulation results demonstrate that the proposed hybrid fuzzy control system can guarantee the system stability and also maintain a good tracking performance.