基于反馈对消技术的应用，通过极点配置获得状态反馈控制律。
By feedback cancellation technique, a state feedback control law is obtained by pole placement.
本文还对位置跟踪进行PID控制，PID系数通过极点配置方法得到。
Furthermore, this system can control Angle position by PID method in which the PID coefficients are obtained using pole placement.
所谓极点配置就是通过反馈阵的选择，使闭环系统的极点，恰好处于所希望的一组极点的位置上。
The pole-placement namely is to make poles of closed loop of system just at positions of a group of desirable poles by selecting state feedback matrix.
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