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Based on eligibility a fuzzy CMAC controller (FCE) is proposed. The structure of FCE system is presented, and its learning algorithm is deduced. To make the algorithm fit to on-line control, an efficient implementation of FCE method is also given. Applying the FCE controller in a ship steering control system, the simulation results show that the ship course can be properly controlled in case of the disturbances of wave, wind, current. It is demonstrated that the proposed algorithm is a promising alternative to conventional autopilots. [ABSTRACT FROM AUTHOR]