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利用包含原理的约束和聚集条件[1,2]，对系统进行重叠结构分解，根据扩展空间系统设计关联解耦子系统的分散LQG控制，并收缩回原系统空间，实现各子系统的分散控制。
Based on the constraint and aggregation conditions of inclusion principle [1,2], the system is decomposed into overlapping structures. According to the decentralized space system, the decentralized LQG control of the associated decoupling subsystem is designed and contracted back to the original system space to achieve the decentralized control of each subsystem .