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By employing the extended system which transfers the output tracking control into the stabilization control, the output tracking controller design for a class of complex systems with uncertainties is discussed. The fuzzy logic system is used to approximate the uncertainties of the controlled systems, then the decentralized adaptive robust controller and adaptive laws of parameter estimate of fuzzy logic system are constructed, which can ensure the outputs of the controlled systems asymptotically track the reference signals, meanwhile the states of systems controlled and parameter estimate errors are bounded. The approximation exactnesses of the fuzzy logic system and estimate errors are analyzed in mathematically. Finally the computer simulation shows the validity of the method.