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对模型中含有不确定性因素的非线性系统给出一种定性控制方法，避免了模型控制器设计中存在的主观性和模糊规则难以获取等缺点。先将状态进行定性划分，再对每个定性状态根据期望约束利用不精确模型求出控制的参考范围及初值，最后对控制量在线自学习调整。此方法具有模糊控制的控制效果。
A qualitative control method is given for nonlinear systems containing uncertainties in the model, which avoids the shortcomings of the subjectivity and fuzzy rules in model controller design. Firstly, the state is divided qualitatively, and then the reference range and initial value of the control are determined by imprecise models for each qualitative state according to the expectation constraint. Finally, the online self-tuning of the control quantity is adjusted. This method has the fuzzy control of the control effect.