通过镜像映射将非稳定过程转换成最小相位系统，然后用闭环增益成形算法求解鲁棒控制器。
An unstable process is transformed into a minimum-phase system through mirror-injection, then solve the robust controller using closed loop gain shaping algorithm.
采用了非最小相位系统参数模型转换为参数模型的控制器的设计。
Using the non minimum phase system parameter model transformation of the model for the controller design.
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