Abstract: For the multi-variable system with bounded disturbance and unmodeled dynamics，the design of robust and stable adaptive control rule，and stability analysis are provided.In the design，dead-zone and the regularized signals are combined， the form of pole placement is used in the control rule.The regularized signals make modeling error and the impact of the disturbance signals bounded relative to it，and the singularity may appear in pole placement control rule is eliminated by projection algorithm.Compared with some other literatures about the robust and stable adaptive control algorithms，this algorithm is simple and easy to implement.

Key words: robust adaptive control, nonlinear systems, dead zone, projection method

摘要： 对具有有界扰动和未建模动态的多变量系统，设计鲁棒稳定的自适应控制律，并进行了稳定性分析。在设计中，采用死区与正规化信号相结合的方法，控制器采用极点配置的形式。正规化信号的引入，使得建模误差和扰动产生的影响对正规化信号有界。对极点配置控制律中出现的奇异性用投影算法加以消除。与其他一些文献上的算法相比，该算法较为简单，易于执行。

关键词: 鲁棒自适应控制, 非线性系统, 死区, 投影算法