The invention discloses a cantilever beam robustness self-adaptation control method. An ideal cantilever beam dynamic model is designed and contains frequency signals rich enough to serve as a reference trajectory of a system, it is guaranteed that the actual cantilever beam trajectory can track the reference trajectory for the whole self-adaptation control system, an ideal dynamic property is realized, and compensation of manufacturing errors and environment disturbance is achieved. The parameters of a cantilever beam are taken as unknown system parameters, a parameter error vector theta is formed, a slip form function is designed, the derivative of the slip form function is made to be zero, an equivalent controller is obtained, a feedback term and a robustness term serve as an input signal on this basis, the self-adaptation rule of the parameter theta of the controller is designed based on the Lyapunov method, the stability of the system is guaranteed, tracking error is converged to zero, and all the parameters are converged to true values.