本文改进了传统无限时间 L Q跟踪调节器的设计方法 ;利用 Pade逼近法 ,得到时滞环节的低维状态空间 ;通过有限维状态反馈 ,实现了时滞对象的二次型次优控制。对于难控度大的时滞对象 ,本文在大量仿真的基础上 ,给出了加权阵的一组经验公式。比较研究表明 ,该方法跟踪速度快而且过程平稳 ,同时还具有很好的参数 (TP、τ)鲁棒性。 In this paper, the design method of traditional infinite-time LQ tracking regulator is improved. By using Pade approximation method, the low-dimensional state space of time-lapse links is obtained. By the finite-dimensional state feedback, the quadratic suboptimal control of time-delay objects is achieved. For the difficult time-delay objects, this paper presents a set of empirical formulas of weighted array based on a large number of simulations. The comparative study shows that the proposed method has the advantages of fast tracking and stable process, and also has good robustness of parameters (TP, τ).