本文给出了一种用加权递推最小二乘法来构成自适应观测器的自适应律的方法,该方法能使参数估计误差按指数曲线收敛,计算量小而具有连续时间系统的参数表现形式.同时又能直接应用于离散数值系统.文中给出了数值仿真以及应用于机械手动态特性分析的结果. In this paper, we present a method to construct the adaptive law of adaptive observer using the weighted recursive least square method. This method can make the parameter estimation error converge exponentially, and the computational complexity is small and the parametric representation of continuous time system At the same time, it can be directly applied to discrete numerical systems. The numerical simulation and the results of the analysis of the dynamic characteristics of manipulator are given.