By virtue of this,the augmented LQR method results in a robust multivariable system which can eliminate steady state errors,keeping as good robustness as LQR.

• 采用一种增广LQR方法,将原系统状态的导数和指令跟踪的误差作为增广的状态向量,使设计出来的多变量系统不仅具有LQR的好的鲁棒性,而且在用于指令跟踪时能消除稳态误差。