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对具有高阶不确定关联作用、未知不确定界、线性时不变关联系统，提出了一种分散鲁棒自适应控制方法．控制包括反馈增益的自适应估计和基于所估计参数的分散鲁棒控制．自适应方案的引入，克服了分散鲁棒控制方法中需要已知不确定性界的缺点．采用极点配置（或最优控制）方法设计常值反馈增益，避免了常值反馈自适应设计中需要人为给定反馈系数的问题，同时使系统具有更好的暂态特性．对运动小车二阶倒立摆的数值仿真证实了本方法的有效性．
A decentralized robust self-adaptive control method is proposed for the system with high-order uncertainties, unknown uncertainties and invariant linear systems. Control includes adaptive estimation of feedback gain and decentralized robust control based on the estimated parameters. The introduction of adaptive scheme overcomes the shortcomings of the known uncertainties in decentralized robust control methods. Pole placement (or optimal control) method is used to design constant feedback gain, which avoids the problem of artificial feedback coefficient in constant-value feedback adaptive design and makes the system have better transient characteristics. The numerical simulation of the second-order inverted pendulum of sports car confirms the effectiveness of the method.