Abstract: The main principals of Model Reference Control Systems（MRAC） based on Lyapunov stability theory are briefly introduced in this paper and the steps to design MRAC are given then.To take Advanced Control Demonstrators as the research subject ，the modules for MRAC and Solving Lyapunov are developed here，based on the modeling and simulation software 20-sim developed by control engineering group in university of twente（The Netherlands）.Firstly，an icon model of the demonstrators is formed in the environment of 20-sim.Moreover，the MRAC modules are added in the model，and then the whole MRAC control system is constructed directly.The simulation results the simplicity of the whole 20-sim methods and the high flexibility of the constructed modules，and it provides a new way in the field of control system modeling and simulation.

Key words: Model Reference Control Systems（MRAC）, modeling and simulation, 20-sim software

摘要： 简要地介绍了李雅普诺夫稳定意义上模型参考自适应控制（MRAC）的基本原理，给出了设计MRAC控制系统的基本步骤。基于荷兰Twente大学控制工程系研发的机电一体化设计软件20-sim，以Twente大学先进控制演示仪为研究对象，在20-sim下建立了系统的图标化数学模型，编制了模型参考自适应和Lyapunov求解模块。在此基础上，构成了完整的MRAC控制系统。仿真结果显示基于20-sim建模与仿真方法直观简便，所设计的模块可移植性强，为控制系统的建模与仿真提供了新的思路。

关键词: 模型参考自适应控制, 建模与仿真, 20-sim软件