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本文利用多变量系统的频域设计方法——特征结构分解，将多变量系统分解为一组独立的SISO特征子系统，对各特征子系统，通过加权补偿，由极点配置保证闭环特征子系统稳定，进而保证原闭环系统渐近稳定．
In this paper, multivariable system frequency domain design method - feature structure decomposition is used to decompose multivariable system into a set of independent SISO feature subsystems. For each feature subsystems, the closed-loop feature subsystems are guaranteed by the pole placement through weighted compensation , And then ensure the original closed-loop system asymptotic stability.