本文讨论了工程中常见的单回路和多回路前馈控制的工程实现,并把控制对象分为有自平衡和无自平衡两大类,把每大类的传递函数化成标准表达式,用低阶近似方法求出各种前馈控制及其参数的计算公式。上述结果亦可推广到多变量控制系统。 This article discusses the engineering common single loop and multi-loop feedforward control engineering, and the control object is divided into two categories with self-balancing and no self-balancing, the transfer function of each category into a standard expression, with low Order approximation method to find a variety of feedforward control and its parameters formula. The above results can also be generalized to multivariable control systems.