Neuro-fuzzy systems show promise for adaptive control but can become complex due to the need to learn many parameters. This paper presents a resilient nonlinear controller that combines a simplified neuro-fuzzy system (Simp_NFS) and simplified neural network (Simp_NN) with only two meta-learnable parameters. This architecture enables fast and stable adaptation in uncertain nonlinear discrete-time systems. Simp_NFS utilizes interpretable hyperplane-based rules without antecedent parameters, simplifying the learning process to consequent weights. Simp_NN reduces complexity by replacing hidden-output weights with their mean. The hybrid auto-adaptive controller (HAC) combines the advantages of Simp_NFS and Simp_NN, significantly reducing the number of adaptive parameters compared to standard neuro-fuzzy methods for real-time control with limited resources. Simp_NFS provides structural adaptivity to handle uncertainties, while Simp_NN ensures reliable disturbance attenuation. The stability of HAC is proven using Lyapunov analysis. Extensive testing on challenging single-input single-output (SISO) and multi-input multi-output systems (MIMO) demonstrates that HAC improves performance by up to 82.55% compared to existing techniques. Key innovations include an ultra-compact meta-learned architecture, transparent online evolution of hyperplane clusters, and enhanced modeling capability for nonlinear uncertain systems. This interpretable neuro-fuzzy approach could enhance autonomy and safety by maintaining model transparency. The implementation of HAC is publicly available on GitHub at https://github.com/m-ferdaus/HAC.