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本文基于Ｐｏｐｏｖ超稳定理论，提出了一种任意相对阶数的克服扰动的ＭＲＡＣＳ设计方法，省略了线性补偿器的设计．仿真结果表明了该方法有效。
Based on the Popov super-stability theory, this paper presents a MRACS design method to overcome the perturbation with arbitrary relative order, omitting the design of the linear compensator. Simulation results show that the method is effective.