2 . based on the multivariable frequency control theory, a multi-variable computer-aided design software is designed using visual basic 6.0 after decoupling the controller model, the precompensation matrix, the dynamic compensation matrix and the feedback matrix are obtained 二、以多變量頻率域控制理論為基礎,結合現代控制理論對該數學模型進行解耦設計,利用vb6開發(fā)了一個多變量系統(tǒng)的輔助設計軟件,得到它的預補償陣,動態(tài)補償陣和反饋增益陣。