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本文提出一个递推计算控制器参数的方法，得到具有两层迭代过程的多变量自适应极点配置算法，大幅度减少了在线计算量，同时在辩识算法中利用投影方法，证明了该算法的稳定性和收敛性，引入前馈环节，保证了稳态解耦及跟踪．仿真例子还验证了该算法的有效性．
In this paper, we propose a recursive method to calculate the controller parameters, and obtain a multivariable adaptive pole placement algorithm with two iterative processes, which greatly reduces the online computational burden. At the same time, the projection method is used in the recognition algorithm. Stability and convergence, the introduction of feed-forward link to ensure steady-state decoupling and tracking. The simulation example also verifies the effectiveness of the algorithm.