从控制方法的实用性出发，综合鲁棒控制和自适应控制方法，处理存在各种非结构不确定性及参数不确定性的线性对象。运用状态空间 Ｈ∞方法设计鲁棒控制器，抑制外部干扰，未建模动态及参数误差。进而引入鲁棒辨识器以确定对象的标称参数，减小鲁棒控制的保守性。并证明了闭环系统的稳定性和鲁棒性。结合 Ｒｏｈｒｓ 反例，验证了算法有效性。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。 Based on the practicality of the control method, the robust control and the adaptive control method are integrated to deal with linear objects with various unstructured uncertainties and parameter uncertainties. The state space H ∞ method is used to design a robust controller to suppress external disturbances, unmodeled dynamics and parameter errors. Then, a robust identifier is introduced to determine the nominal parameters of the object and reduce the conservativeness of the robust control. And prove the stability and robustness of the closed-loop system. Combined with Rohrs counterexample, the effectiveness of the algorithm is verified. This method realizes the separation of adaptive law and control method, thus avoiding the complexity of system analysis and practical application brought by traditional ’deterministic equivalence principle’.