The algorithm realizes the pole placement of closed loop systems and overcomes the difficulty of the weighting polynomials choice of the quadratic cost function in general adaptive control.

算法的一个特点是能够配置闭环极点，克服了一般自适应控制二次型性能指标中加权阵选择的困难。

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The experimental results verified the validity of the algorithm and the control loop design.

通过实验验证了此简化算法和控制环设计的有效性。

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But the robust performance is improved obviously when the closed loop gain shaping control algorithm is introduced into the ship motion system on the basis of neural network control in the thesis.

本文在神经网络直接控制船舶运动控制基础上，引入闭环增益成形算法构成闭环控制，以提高系统对环境干扰和过程参数摄动的鲁棒性。

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