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根据灵敏度函数的概念，利用模型参考自适应的原理，提出了按系统灵敏度函数与系统传递函数独立设计的二自由度控制方案。论证了二自由度控制原理，并推导了实现这一控制的条件，理论研究和实验结果表明，将这一控制思想运用于参数大范围变化的控制系统设计时，能极大增强系统的鲁棒性。
According to the concept of sensitivity function and using the principle of model reference adaptive, a two-degree-of-freedom control scheme designed independently by system sensitivity function and system transfer function is proposed. The control principle of two degrees of freedom is demonstrated and the conditions for realizing this control are deduced. The theoretical research and experimental results show that applying this control idea to the design of control system with a wide range of parameters can greatly enhance the robustness of the system Sex.