Based on an extension of the classical linearization method, an adaptive control scheme has recently been proposed by Choiet al.(1986). This control scheme, however, implicitly involves taking the inverse of the matrix [I+G(x(t), u(x(t)))], which complicates the computation. Moreover, since the matrix inversion depend- ing on the system statex(t) does not necessarily exist for all time, the proposed control scheme may lose its effectiveness. In this paper, we present a modified control scheme in which the aforementioned weakness does not appear.