迴饋控制的設計，乃是透過極點位置的適當安置來改善系統的行為。這些我們希望予以改善的系統行為包括：輸出響應跟輸入需求有適當的條配、控制器有適當的強韌性以及系統輸出具有追蹤命令的功能。其中前兩項的目標都可以藉由二次線性最佳化的控制設計來達成，但是二次線性最佳化的設計所產生的狀態迴饋控制律，卻是非常的難以實現。為此，人們發展出了將狀態迴饋以輸出迴饋的形式來實現。然而，既有的輸出迴饋設計，由於增益值太大以至於無法複製狀態迴饋控制器的強韌性。針對這個問題，本論文提出了改良的輸出迴饋設計來降低控制器的增益，並使得輸出迴饋控制的強韌性直逼狀態迴饋控制的設計。另外，即使是二次線性最佳化的控制設計，都無法達成命令追蹤的功能，在本論文裡我們更在輸出迴饋的設計裡加入積分控制的迴路，來讓閉迴路系統具有追蹤命令的功能。從而，迴饋控制的三項目標可以同時完成。

The design of feedback control is to improve system behavior by placing the poles. There are system behaviors we want to improve, one is properly to allocate the output response with the input requirements, another is to increase robustness of the controller and the other is to have the system output follows the given command. Among them, the first two behaviors can be achieved by using linear quadratic optimization design, but the feedback control law, which is generated by using linear quadratic optimization design, is difficult to achieve. Therefore, we develop the output feedback realization of state feedback controller. However, the controller gain is too large to copy state feedback robustness. For this problem, this thesis proposed modified output feedback design to reduce the controller gain and the controller robustness to reach state feedback design. Moreover, even the linear quadratic optimization design can’t reach command following. In this thesis, we even add the integral control loop into output feedback design. As a result, the three goals of feedback control can be competed at the same time.

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