In order to solve singularity problems or proble ms of lossing controllability in the indirect adaptive control systems, a novel modified parameter estimation procedure is proposed.

• 为解决间接自适应控制系统的奇异性或不可控性问题，提出一种新的修正模型辨识参数方法，参数修正策略使系统辨识模型在适应过程中保持能控性。