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首先在研究了重频系统中状态可观察的必要条件基础上，给出了设计重频系统状态估计器的方法，使得状态估计的误差能以事先指定的速率衰减．随后给出两种方法将上述重频系统的估计器用到密频系统上去；一种是直接用重频系统估计器来估计密频系统状态，另一种是用按重频系统设计得到的估计矩阵构造密频系统的观察器，并分析由此引起的误差．分析表明，第一种方法简单易行，并且在频率分散度比较小时可以得到理想的结果；第二种方法的精度较高，其误差与状态变量本身无直接关系．数值例子表明，用提出的状态估计器，并按相应的状态控制器，可以使密频系统的振动按事先给定的衰减速度趋向于零．
First of all, based on the research of the necessary condition of state observability in the repetition system, the method of designing the state estimator of the repetition system is given. The error of state estimation can be attenuated at the pre-specified rate. Then, two methods are given to apply the above estimator of the repetition rate system to the frequency-dense system. One method is to estimate the state of the dense-frequency system directly by using a frequency-repeated system estimator, and the other is to estimate the frequency- The matrix constructs a dense-frequency observer and analyzes the resulting errors. The analysis shows that the first method is simple and feasible, and the ideal result can be obtained when the frequency dispersion is small. The second method has higher accuracy and the error is not directly related to the state variables itself. The numerical examples show that with the proposed state estimator and the corresponding state controller, the vibration of the close-coupled system tends to zero at a predetermined decay rate.