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为解决二自由度平面机械手的控制问题，提出基于Ｔ－Ｓ模糊模型和并行分配补偿（ｐａｒａｌｅｌｄｉｓｔｒｉｂｕｔｅｄｃｏｍｐｅｎ－ｓａｔｉｏｎ）法的模糊模型参考自适应控制方法。并提出采用初始条件补偿回路，消除参考模型和实际系统之间由于初始条件不同所引起的误差和实际系统参数变化引起的部分不能被自适应调节律消除的误差。根据李雅普诺夫稳定性理论，求得反馈控制律、稳定条件和调节律（自适应律）。最后，对连续系统情况进行了仿真验证。所提方法可用于解决一类非线性系统的控制问题。
To solve the control problem of planar two-degree-of-freedom manipulator, a fuzzy model reference adaptive control method based on T-S fuzzy model and parallel distribution compensation (paraleldistributed-based) method is proposed. It is also proposed to use the initial condition compensation loop to eliminate the error caused by the difference of initial conditions between the reference model and the actual system and the error that can not be eliminated by the adaptive regulation law caused by the change of the actual system parameters. According to Lyapunov’s stability theory, the feedback control law, the stability condition and the regulation law (adaptive law) are obtained. Finally, the simulation of continuous system is carried out. The proposed method can be used to solve the control problem of a class of nonlinear systems.