Without a priori knowledge of the upper bounds of unknown parameters, interconnections between subsystems and extemal disturbances, the stability of the closed-loop large-scale system is guaranteed by adaptive laws.

• 该控制器不需要未知参数变化、外界扰动以及子系统互连上界的先验信息，能够通过自适应率对上述信息进行在线估计。