In this paper the designing approach of model free adaptive controller, also named non modeling adaptive controller has been introduced. This is completed by a non classical method.

介绍了非建模自适应控制器，又称无模型控制器，它是一种通过非经典的设计途径完成的。

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The model free controller is a structure adaptive controller, which is a product of the approach of modeling and control unity and the concepts of PID and linear frame.

指出无模型控制器是一种结构自适应控制器，它是“建模与控制一体化”，冲破p、I、D和线性框架的束缚的产物。

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Thus, we employ parameter adaptations to improve the performance of model based controllers, and we have also proposed a novel joint-space adaptive controller for free-floating space manipulators.

通过对参数的自适应逐步改善基于模型的控制器的性能，并且提出了一种新的自由漂浮机械臂关节空间自适应控制器。

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