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应用给出的离散时间直接自适应控制算法改进了离散简单自适应控制的一些缺陷，能够在计算控制律不违反因果律的条件下，使被控对象的输出直接跟踪理想参考模型输出．应用Lyapunov函数和正实引理证明了算法的收敛性，并通过仿真研究说明了算法的有效性和可行性．
The proposed discrete time direct adaptive control algorithm improves some shortcomings of discrete simple adaptive control and can make the output of the controlled object directly track the output of the ideal reference model under the condition that the control law does not violate the causality law. The convergence of the algorithm is proved by Lyapunov function and positive real lemma. The simulation results show the effectiveness and feasibility of the algorithm.