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Current model-free adaptive control (MFAC) method has no been analysed inlinear system and is not straightforward for the practical engineers tounderstand accurately. This correspondence presents a family of MFAC based on amodified equivalent-dynamic-linearization model (EDLM), which facilitates toshow the working principle of method more directly and objectively. Compared tothe current work, i) the researches on MFAC focus on linear model, which iseasy to understand its working behaviour; ii) the full-form EDLM is extendedwith unmeasured stochastic and measured disturbance, respectively. Then thecontrollers is modified correspondingly; iii) the stability analysis of systemcannot be proved by current contraction mapping technique when the sign ofleading coefficient of control input changes, therefore we prove it byanalysing the function of the closed-loop poles. Several simulated examples areused to show the principles of this kind of method.

Model-Free Adaptive Control based on Modified Full-Form-Dynamic-Linearization