對一個大型系統來說，分散式控制是一個很重要的概念。這裡討論一個擁有飽和致動器與狀態限制的類比系統，其中系統內部包含了開關與內部補償的機構，我們使用LQR的方法來設計觀測基底追蹤器來簡化系統的複雜度，再透過數位再設計的方法來設計一個低能量且高效能的資料取樣的控制器。為使追蹤器有更高的效能，我們應用EP的運算來調節追蹤器內某些參數，進而提出一些例子來證明其中的影響。

　For a large-scale system, the decentralized control is an important concept. A cascaded system with actuator and state saturation which is consisting of a weighted switching strategy and an inner-loop compensator is presented in this paper. We apply the LQR design methodology for designing the observer-based tracker to simplify the complexity of the system. The realizable low-gain and high design performance of a sample-data controller is realized through the digital redesign method. For obtaining better performance of the tracker, we use the evolutionary programming to tune the parameters of the tracker. Some examples are presented to demonstrate the effects on the proposed methodology.

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