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最优预见伺服系统一般与基本最优伺服系统共用同一个二次型性能指标函数设计预见前馈补偿项，其设计的着眼点是进一步减小性能指标函数．当控制系统的基本反馈部分不是采用最优控制方法设计时，历史上采用另一个性能指标函数设计预见前馈补偿，并把所得系统称为预见ＦＦ（前馈）补偿系统．这里把两种设计方法统一起来处理后，不仅最优预见伺服系统与最优预见ＦＦ补偿系统都仅仅是特例，而且给设计者扩大了选择的余地．最后给出了数值仿真，把这种设计方法与最优伺服系统、最优预见伺服系统进行了比较．
The optimal predictive servo system and the basic optimal servo system commonly share the same quadratic function index function to predict the feedforward compensation term. The focus of this design is to further reduce the performance index function. When the basic feedback part of the control system is not designed with the optimal control method, another performance index function is used in history to design the predictive feed-forward compensation, and the resulting system is called the foreseeable FF (feedforward) compensation system. By combining the two design approaches here, not only the optimal foreseeing servo system and the optimal forerunner FF compensation system are just special cases, but also give the designer more scope to choose from. Finally, a numerical simulation is given to compare this design method with the optimal servo system and the optimal preview servo system.