Abstract: In this paper,the conventional MFAC method is broken through with the system parameter estima-tion being introduced into MFAC and the new concept hybrid MFAC is presented.In accordance withthis concept,a hybrid MFAC scheme of manipulators with gravity compensation is presented.It bases onPopov superstability theories and concepts of positive real function,and has advantages of wideadaptability,less computation task and good control quality.