Abstract: A robust control design procedure is proposed for ill-conditioned plants, in which the loop shape design procedure (LSDP) and the frequency response approximation (FRA) method are combined to design a two-degree-of-freedom robust controller: feedback controller and prefilter.The whole design procedure is demonstrated by a well-known control problem of an ill-conditioned plant.

摘要： 提出了一种适用于病态对象的鲁棒控制器设计过程.该过程把增益修正法（loop shape design procedure）与频域响应近似法(frequency response approximation)相结合，分两步设计二维自由度（two-degree-of-freedom）控制器：即反馈控制器和前置滤波器.整个设计过程针对一个众所周知的病态系统控制问题进行演示.