本文利用H~∞设计理论提出了一种多变量系统敏感性及鲁棒性综合最优的解耦设计方法,证明了单变量系统所能达到的最优敏感性及鲁棒性指标值仅由被控对象右半平面的零极点决定,而与左半平面的零极点无关.另外,本文对谱分解及模型匹配问题的求解算法作了改进,给出了一个算例. In this paper, we use H ~ ∞ design theory to propose a multi-variable system sensitivity and robust optimal optimal decoupling design method, which proves that the single variable system can achieve the optimal sensitivity and robustness index value only by The zero-pole of the right-half plane of the controlled object is determined, which is independent of the zero-pole of the left half plane.In addition, the algorithm for solving the spectral decomposition and model matching problems is improved and an example is given.