本文研究了具有混合自适应律的直接型模型参考自适应控制。

Direct model reference adaptive control (MRAC) with hybrid adaptive law is studied in this paper.

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定义了李亚普诺夫函数，根据其稳定性理论确定了速度自适应律。

The speed adaptive scheme of speed estimation is obtain utilizing Lyapunov's stability theory.

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修辞学的规律可以概括为四条：选择律、互动律、适应律、效果律。

There are generally four rules: selectivity law, interaction law, adaptation law and effect law.

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