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本文由两部分组成，第一部分考虑具有给定H∞范数、圆形区域极点及稳态方差约束的线性连续系统的控制器设计问题，第二部分则进一步研究方差及圆形区域极点约束下不确定线性连续系统的性能鲁棒控制器设计问题．文中提出有效的代数黎卡提方程方法来解决如上问题，并用数值算例说明所提方法的直接性与可行性．
This paper consists of two parts. The first part considers the design of controllers for linear continuous systems with given H∞ norm, circular region poles and steady-state variance constraints. The second part studies further the variance and circular region pole constraints Robust Controller Design Problem for Uncertain Linear Continuous System. In this paper, an effective algebraic Riccati equation method is proposed to solve the above problem, and numerical examples are given to illustrate the directness and feasibility of the proposed method.