直接力控制的特征结构配置法

以现代控制理论和飞行力学原理为基础，针对直接力控制器设计中存在的模态耦合问题，提出一种应用状态反特征结构配置进行解耦的方法，并出相应的公式。分析表明，用此方法对系统的极点和特征向量可以进行希望的配置。并能达到设计要求，同时仿真结果说明，用状态反馈特征结构配置法设计的控制系统比用线性二次型调节器（LQR）方法设计的控制系统解耦性能好，响应速度快，并且解决了输出反馈特征结构配置不能确保闭环系统稳定的问题。

State feedback eigenstructure assignment algorithm in direct force control

In order to solve the problem of the mode coupling in direct force controller design, an algorithm state feedback eigenstructure assignment, which is on the bases of flight dynamics and modern control theory, is proposed in this paper. Corresponding formulas are derived. Analysis show that this method can be used to assigned the poles and eigenvectors to the desired places to satisfy the requirement of the design. The simulation results prove that by using this method the decoupling performance of the designed controllers is better than that of LQR, and the problem that the stability of the closed loop system can't be guaranteed when using output feedback eigenstructure assignment algorithm is also be solved.