一、引言六十年代前后,多变量系统的研究主要是在时间域的状态空间范围内进行的,即所谓的现代控制理论,这种理论的基础是状态的可控性、可观性,其设计技术有通过状态反馈、输出反馈配置系统希望的极点,以及基于某些性能指标函数的最佳化控制系统设计. 另一方面,经典的单回路控制理论已发展到多变量系统,在频率域内研究设计多变量系统,有Macfar lane的特征轨迹设计技术和Rosen brock的逆Nyquist基阵设计技术,以及其它 I. Introduction Before and after the 1960s, the study of multivariable systems was mainly conducted in the state space of the time domain, the so-called modern control theory. The theory was based on the controllability and observability of states. Its design The technique has the extremes of configuring the system via state feedback and output feedback, as well as the optimization of control system design based on some performance index functions.On the other hand, the classical theory of single-loop control has been developed to multivariable systems and studied in the frequency domain Designing multivariable systems with Macfar lane’s signature trajectory design technique and Rosen Brock’s inverse Nyquist array design techniques, among others