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考虑具有控制时滞及输入输出之间前向通道的大系统，应用线性二次型加积分（ＬＱＩ）［１］的最优状态反馈控制理论和带时滞增广状态向量方法，转化原大系统为满足马尔可夫性质的增广状态大系统，再作子问题分解后［２］，整个大系统的解可由子问题层的局部控制器和上层协调器迭代计算。
Considering the large system with control delay and the forward channel between input and output, the optimal state feedback control theory of linear quadratic integral integral (LQI) [1] and the augmented state vector method with time delay are applied to transform large The system is an augmented state large system satisfying the Markov property. After the sub-problem is decomposed [2], the solution of the whole system can be iteratively calculated by the local controller and upper coordinator of the sub-problem layer.