The invention discloses a double-feedback robust self-adaptation control method and a control system structure thereof, the large treatment uncertainty factor capacities of the L1 self-adaptation control method are inherited, and a controlled object dynamic dead time delay model is built in the controller, so that the defects that the time-lag overmeasure of an L1 self-adaptive controller is small and the L1 self-adaptive controller cannot be suitable for a large dead time delay process are overcome by the predication function of the model; at the same time, the uncertainty factor capacities of the L1 self-adaptation control treatment are used, and the self-adaption rule of a novel double closed loop feedback strategy is adopted, so that the requirement for the accuracy of the built-in dynamic dead time delay model is reduced. Compared with the control methods of other models, the built-in dynamic dead time delay model with larger modeling errors both in the dynamic characteristics and the time-lag characteristics can be used, and the robustness and the stability are superior. The method can be directly suitable for controlling large dead time delay uncertainty thermotechnical and chemical processes, including controlled processes with no remarkable dead time delay or uncertainty.