基于向量形式的非线性Backstepping方法,对多变量模型参考自适应控制(MRAC)系统设计出新的自适应控制器.该设计机制减弱了现有研究中对高频增益矩阵的假定条件,使某些系统关于高频增益矩阵的假定条件便于检验,从而该控制器的实用范围更广.该控制器能保证系统的全局稳定性,跟踪误差趋于零并且是平方可积的. Based on vector nonlinear feedbackstepping method, a new adaptive controller is designed for multivariable model reference adaptive control (MRAC) system.The design mechanism weakens the assumptions of high frequency gain matrix in the existing research, The assumption about the high-frequency gain matrix of these systems is easy to test, so the practical range of the controller is more extensive.The controller can ensure the global stability of the system, the tracking error tends to zero and is squarely integrable.