In the traditional robust adaptive control based on the Backstepping method, the design parameters in the virtual control function lack of restrain. Therefore, in the new method, the new system mathematical model is established in the new coordinate system. By using the direct linear feedback method and the optimal control method, the robust adaptive optimum control method with the state parameter constraint(RAOC-SPC) is obtained. Finally, taking the certain excitation system for
example, the simulation experiment is carried out. The simulation results show