对零动态解开法用于输出反馈控制进行了详细分析.零动态解开法是一种回路变换法,通过变换将一个对不稳定对象进行镇定的控制器变换成对非最小相位系统的控制器.变换中虽然系统的特征方程式不变,但由于回路的结构已经改变,二者的鲁棒性并不等价.文中以一典型的非最小相位系统为例,详细分析了这种设计方法的鲁棒性. Zero-dynamic unraveling method is applied to the output feedback control in detail.Zero dynamic unraveling method is a kind of loop transform method, which transforms a controller that stabilizes unstable objects into control of non-minimum phase system Although the system’s characteristic equation does not change during the transformation, the robustness of the loop is not equivalent because the structure of the loop has changed.In this paper, a typical non-minimum phase system is taken as an example to analyze the design method in detail Robustness.