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研究当被控对象具有未建模动态、参数时变、非线性以及有界干扰时，自适应广义预测控制系统的鲁棒稳定性。提出了分析和设计鲁棒自适应广义预测控制系统的一般理论和方法。给出了一类满足弱化鲁棒稳定性条件的鲁棒参数自适应算法，并根据确定性等价原理将它和鲁棒广义预测控制律结合，建立了鲁棒间接自适应广义预测控制算法。采用统一的理论分析了已建立的自适应广义预测控制算法的全局稳定性和鲁棒性，得出了自适应控制系统具有鲁棒稳定性的新条件：自适应验后误差和对象参数估值变化的均值渐近小，从而弱化了现有自适应控制系统的鲁棒稳定性条件。
The robust stability of the adaptive generalized predictive control system is studied when the controlled object has unmodeled dynamics, time-varying parameters, nonlinearities and bounded disturbances. The general theory and method of analyzing and designing robust adaptive generalized predictive control system are proposed. A kind of robust parameter adaptive algorithm which satisfies the condition of weakening robust stability is given. According to the deterministic equivalence principle, this algorithm is combined with robust generalized predictive control law, and a robust indirect adaptive generalized predictive control algorithm is established. A unified theory is used to analyze the global stability and robustness of the established adaptive generalized predictive control algorithm. The new conditions for the robust robustness of the adaptive control system are obtained: adaptive post-test error and object parameter estimation The mean of the changes is asymptotically small, which weakens the robust stability conditions of the existing adaptive control systems.