全状态反馈系统是一种有静差系统。本文提出一种稳态误差完全补偿方法。它利用已有的观测器或卡尔曼滤波器对参考输入进行变换,从而达到完全补偿稳态误差的目的。文中给出了实现完全补偿的充分必要条件,对参考输入施行变换还兼有参考输入微分顺馈的效果。本文还指出,可以根据偏差信号进行状态重构或状态估计,这对于那些只能直接测得偏差信号的场合具有工程实际意义。 Full state feedback system is a static error system. This paper presents a method of complete compensation of steady-state error. It uses the existing observer or Kalman filter to transform the reference input, so as to achieve the purpose of completely compensating the steady-state error. The sufficient and necessary conditions for the complete compensation are given in this paper. The transformation of the reference input also has the effect of inputting derivative differential feedback. It is also pointed out in this paper that the state reconstruction or state estimation can be performed on the basis of the deviation signal, which is of practical engineering significance for situations where the deviation signal can only be measured directly.