针对典型的鲁棒模型参考自适应控制中瞬态性能无法得到保障的问题,提出一种改进的鲁棒模型参考自适应控制器.该控制器在标准的鲁棒自适应控制中加入H∞补偿器,以抑制闭环自适应系统中参数估计误差和不确定扰动对系统输出跟踪性能造成的不利影响.理论分析和仿真验证表明,所提出的控制器不但保留了典型鲁棒模型参考自适应控制的理想特性,并且通过设计适当的H∞补偿器使得闭环系统的瞬态性得到了较大的改善,其改善的程度依赖于H∞补偿器性能指标的大小. Aiming at the problem that the transient performance can not be guaranteed in a typical robust model reference adaptive control, an improved robust model reference adaptive controller is proposed. The controller adds H∞ compensation to the standard robust adaptive control To suppress the adverse effects of parameter estimation error and uncertain disturbance on the output tracking performance of the closed-loop adaptive system.Theoretical analysis and simulation results show that the proposed controller not only retains the typical robust model reference adaptive control And the transient performance of the closed-loop system has been greatly improved by designing an appropriate H∞ compensator. The degree of improvement depends on the size of the performance index of the H∞ compensator.