首先介绍了著名自校正调节器的定义,在自适应控制发展中所起的作用,以及对其进行理论研究的困难.其次,简单回顾了自1973年瑞典{\AA}str\"{o}m与Wittenmark教授发表著名论文起,国际控制界在自校正调节器理论研究中所走过的一段艰难曲折历程.接着,作者回顾了自己的相关研究经历,并简单介绍了最终如何建立自校正调节器的全局收敛性理论等.最后,给出了若干研究感悟和启示.

This paper gives a retrospect of the research on the well-known self-tuning regulators (STR), by firstly explaining what is STR and why establishing the  onvergence of STR had been a long standing problem, followed by briefly delineating the twists and turns in the theoretical investigation of STR, which was initiated in the pioneering work of °Astr¨om and Wittenmark (1973). Then the paper roughly recalls the author’s own experience in the investigation of STR and explains how the convergence theory of STR was finally established. Some inspirations and perspectives related to the research on STR are also presented.