Abstract: In this paper,a model reference adaptive control based on expert system(MRACES)via the integration of a model reference adaptive control and an expert system is discussed. The internal structure and the control lawn devcloped for this purpose are described.A simulation(a two degree-of-freedom robot as the controled object)was done to testify efficiency and feasibility of the presented approach.The silnulation results show that the proposed approach gives more significant performance and robustness than conventional approacbes.