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对具有未建模动态和外界干扰的随机系统，利用修正的鲁棒投影估计，采用低阶模型设计控制器，建立了全局稳定的自校正控制算法，且适合于非最小相位系统。此外，将未建模动态与外界干扰对系统的影响用Ｈ∞范数解析地刻划出来。仿真研究表明了这种方法的有效性。
For a stochastic system with unmodeled dynamics and external disturbances, a modified Robust Projection Estimator is used to design a controller using a lower-order model. A globally stable self-tuning control algorithm is established and is suitable for non-minimum phase systems. In addition, the influence of unmodeled dynamics and external disturbances on the system is analyzed analytically by H∞ norm. Simulation studies show the effectiveness of this method.