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分析和总结了定量反馈理论（ＱＦＴ）的基本原理和设计步骤，并应用该理论对水下潜器的控制系统进行了设计研究．研究发现，ＱＦＴ能够很好地解决水下潜器由于模型参数具有不确定性而造成的控制系统鲁棒性设计问题，并从工程应用角度为水下潜器提供了一种鲁棒控制设计方案．仿真结果及与一般控制方案比较表明，用这种理论方法设计的控制系统不仅控制效果良好，而且有较强的工程应用价值
The basic principle and design steps of Quantitative Feedback Theory (QFT) are analyzed and summarized, and the control system of underwater vehicle is designed and researched by using this theory. The research shows that QFT can solve the problem of robust design of underwater control system due to uncertainty of model parameters and provide a robust design scheme for underwater vehicles from engineering application . The simulation results and the comparison with the general control scheme show that the control system designed by this theory not only has good control effect but also has strong engineering application value