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中文摘要：
针对具有未建模动态且相对阶大于1的一类多变量离散时间系统，利用其高频增益矩阵分解建立新的参数模型，在较弱假设下，进一步研究了直接型鲁棒模型参考自适应控制问题．由离散时间系统的交换引理，建立了闭环系统的所有信号与规范化信号的联系．以一种系统化的方法，严格地分析了闭环系统的稳定性与鲁棒性．
英文摘要：
For a class of multivariable discrete-time systems with unmodeled dynamics and a relative order greater than one, we develop the parametric models by factorizing the gain matrix in high frequencies. Based on these models, we design a direct robust model-reference adaptive controller under the weak assumptions. By the swapping lemmas for the discrete-time systems, we establish the relations among all signals in the closed-loop with the normalized signals. The stability and robustness of the closed-loop system are analyzed rigorously in a systematic way.
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