本文主要讨论数学伺服系统在最小拍内实现跟踪及消除干扰的问题。方法是在系统的前向通道上加一个数字校正器。首先分析系统的闭环传递函数满足最少拍无差跟踪的条件,再通过反解来确定数字校正器的传递函数。讨论了一般输入和阶跃输入的情况,并对含有非最小相位部分的系统如何使其输出为无波纹的条件及最少拍跟踪问题作了探讨。在讨论中,考虑到了校正器的物理可实现性和整个系统的稳定性等因素。最后,举一具体例子说明设计的步骤。目前最少拍设计已有较大发展,但对于非最小相位系统尚未讨论,本文讨论了这方面的问题以及快速消除干扰的设计。 This article mainly discusses the mathematical servo system in the smallest beat to achieve tracking and eliminate interference problems. The method is to add a digital corrector to the system’s forward channel. First of all, the closed-loop transfer function of the system is analyzed to satisfy the condition of least-beat non-difference tracking, and then the transfer function of the digital corrector is determined by the inverse solution. The case of general input and step input is discussed, and the problem of how the system with non-minimum phase part makes it output without ripple and the least beat tracking problem are discussed. In the discussion, taking into account the physical achievability of the corrector and the stability of the entire system and other factors. Finally, give a concrete example to illustrate the design steps. At present the least shot design has been greatly developed, but for the non-minimum phase system has not been discussed, this article discusses the issues and quick elimination of interference design.