针对一类在有界输入和输出扰动情况下满足正实条件的主动振动控制系统的鲁棒自适应控制问题，提出了一种鲁棒自适应主动振动控制方法．相对于传统的模态控制方法而言，此方法根据可直接测量的输出量构成控制律，因而不需要进行模态估计．基于有限维状态空间模型得到的鲁棒自适应控制律不存在由于模态截断引起的溢出问题．通过对简支梁主动振动控制的仿真研究，表明了文中提出的控制方法具有较强的鲁棒性和满意的振动抑制效果． Aiming at the problem of robust adaptive control of a class of active vibration control systems that satisfy the positive real conditions under bounded input and output disturbances, a robust adaptive active vibration control method is proposed. Compared with the traditional modal control method, this method forms the control law based on the output that can be directly measured, so there is no need for modal estimation. The robust adaptive control law based on finite dimensional state-space model does not have the problem of spillover caused by modal truncation. The simulation research on active vibration control of simply supported beam shows that the control method proposed in this paper has strong robustness and satisfactory vibration suppression.