然后，在该自适应控制器的基础上，采用衰减控制策略设计鲁棒补偿器，实现对扰动的抑制。
Firstly, a parameter adaptive control was developed using a Lyapunov-based design that employs a parameter projection algorithm without regard to the unmodeled dynamics or disturbances.
然后，在该自适应控制器的基础上，采用衰减控制策略设计鲁棒补偿器，实现对扰动的抑制。
Firstly, a parameter adaptive control was developed using a Lyapunov-based design that employs a parameter projection algorithm without regard to the unmodeled dynamics or disturbances.
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