Abstract: Firstly, the system has been analyzed in detail and the mathematical model has been given. The second problem is how to improve the robustness of the system. When the airplane is running on the runway, the tyre/runway characteristic will be disturbed by various time-variant or uncertain factors, such asthe airplane velocity, the various road surface condition of dry, wet or ice, and so on. In addition, when setting up the mathematical model of system, some certain modeling errors may be produced. The control effect will descend obviously when the system is influenced by the disturbances. So, in the view of all the disturbances discussed above, a control method based on robust adaptive filter has been put forward. The simulation has been made by exerting various disturbances to the system. The simulation result has demonstrated that this method is effective in improving the robustness of the system.