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结合对初始状态的学习，给出了一类输出方程不含控制变量的时变非线性系统的Ｄ型在线学习控制算法及其收敛条件。其特点是将学习误差在线反馈，且迭代初始状态只需通过理想信号及系统的部分信息即可确定。最后，将所得结论应用于机器人系统，表明本文方法是有效的。
Combined with the learning of the initial state, a D-type online learning control algorithm and its convergence condition for a class of time-varying nonlinear systems without control variables for output equations are given. It is characterized by online learning feedback error, and the initial state of iteration only through the ideal signal and the system can be part of the information can be determined. Finally, the conclusion is applied to the robot system, which shows that our method is effective.