This approach separates the adaptive law and the control approach such that it avoids traditional 'certainty equivalence principle' which makes system analysis and practical application complicated.
该方法实现了自适应律与控制方法的分离，从而避免了传统‘确定性等价原理’带来的系统分析和实际应用的复杂性。
First, a new type of parameterization equation is constructed based on matrix factorization and the certainty-equivalence adaptive control law is chosen.
为此首先基于矩阵分解构造出新的参数化方程，选取必然等价自适应控制律。
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