The main conclusion is that the sufficient condition of BIBO robust stability for closed-loop system is the unmodelled dynamics and average parameter time-variations component are sufficiently small.

• 文中著重分析了自适应控制律的特性及闭环系统鲁棒稳定性，得到的结论是：如果未建模动态和平均时变充分小，则闭环系统有界输入、有界输出(BIBO)鲁棒稳定。