assignment2_1

说明：  用最小方差间接自校正控制设计控制器，当被控对象的参数未知时，可首先利用递推增广最小二乘法在线实时估计对象参数，然后再设计最小方差控制律，即将对象参数估计器和控制器的设计分开进行，就形成了最小方差自校正控制间接算法。(The minimum variance indirect self-tuning control is used to design the controller. When the parameters of the controlled object are unknown, the recursive augmented least squares method can be used to estimate the parameters of the object in real time on line. Then the minimum variance control law is designed. The design of the object parameter estimator and the controller are separated, and the minimum variance self-tuning is formed. Positive control indirect algorithm.)