1 引言传统的自适应控制方法,要么采用模型参考要么采用自整定,一般需要辨识过程的动态特性。它存在许多基本问题: ①需建立受控系统精确的数学模型。由于很多实际系统要想建立其数学模型是很困难的,有时是不可能的,即使建立起来,也只是实际系统的某种近似, 还有很多的系统动态因素未建立到模型中去。实际应用中,模型的收敛性和系统稳定性无法保证。 1 Introduction The traditional adaptive control method, either using the model reference or using self-tuning, the general need to identify the dynamic characteristics of the process. It has many basic problems: ① It is necessary to establish a precise mathematical model of the controlled system. Since many real systems are difficult, sometimes impossible, to establish their mathematical models, they are only some approximation of the actual system, and many of the system dynamics are not built into the model. In practice, the convergence of the model and the stability of the system can not be guaranteed.