Abstract: At the beginning of the last decade,adaptive control systems designed for ideal system models,i.e.,linear system models under the assumption that relative degree,time-delay,noise property and other mathematical conditions are known,were strongly attracted by many researchers due to 'lack of robustness' in the presence of unmodeled dynamics and external disturbances,and then special research attention is given to aspects of the robust version of traditional adaptive control systems.The purpose of the present paper is to review the research methods and results on this field after analyzing the reason of 'lack of robustness',including algorithm modification,robust optimization and nonlinear adaptive control system design.