注意，路径必须是一个闭环—也就是说，路径中第一个Edge对象的第一个点必须与最后一个Edge对象的最后一个点的位置相同。

Note that the path must be a closed loop - that is, the first point of the first Edge object in the path must have the same location as the last point of the last Edge object.

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另外，该算法是在闭环系统下进行的，它能够检测出信号的偏差，利用偏差信号对受控对象进行控制，以减小或纠正输出量的偏差。

Moreover, this algorithm is carries on under the closed-loop system, it can examine the component signal deviation that controls the object to reduce or correct output error.

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在被控对象为非方阵的系统中，由于求解控制器时涉及到矩阵求伪逆问题，很大程度上增加了闭环增益成形算法的难度。

It is difficult to design the closed loop gain shaping controller when the controlled plant is not a square matrix, because it is involved in the pseudo inverse of matrix.

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