说明：  基于李雅普诺夫稳定性的模型参考自适应系统设计，包括可调增益、一般单输入单输出、增益反馈、全状态反馈~
(Based on the Lyapunov stability of model reference adaptive system design, including the adjustable gain, usually single-input single-output, gain feedback, full state feedback ~~)