系统输出无偏性及稳态状态协方差是随机系统的两个重要稳态性能指标，系统的动态品质主要决定于系统的闭环极点位置。本文给出的输出反馈协方差控制器能确保系统：１）闭环极点位于指定圆形配置区域；２）稳态协方差满足既定的上限约束；３）稳态输出无偏。 Unbiased system output and steady-state covariance are two important steady-state performance indicators of the stochastic system. The dynamic quality of the system mainly depends on the closed-loop pole position of the system. The output feedback covariance controller given in this paper ensures that the system: 1) the closed-loop poles lie in the specified circular configuration area; 2) the steady-state covariance satisfies the established upper-bound constraint; and 3) the steady-state output is unbiased.