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This paper studies the adaptive mode selection and power allocation for D2D underlay cellular communication systems with the consideration of dynamic fading channel state information (CSI). It aims to maximize the throughput of D2D users while guaranteeing the required quality of service (QoS) of cellular networks. To solve this problem, the expression of throughput for D2D users under dynamic CSI is firstly derived. Subsequently, an adaptive mode selection and power allocation scheduling are obtained. Numerical simulations are provided to validate the analysis and throughput enhancement.