根据哈密尔顿系统理论，深入研究了系统特征方程的闭环极点和加权矩阵的关系，给出了希望加权矩阵的确定方法。

Based on the Hamiltonian system's theory, the relationship between closed-loop poles of system characteristic equation and weighting matrices was thoroughly investigated.

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为保证方程有解，该算法要求系统的开环和闭环极点不能重合。

To ensure the existence of the solution, it is required that the close-loop poles not be coincident with the open-loop ones.

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为保证方程有解，该算法要求系统的开环和闭环极点不能重合。

To ensure the existence of the solution, it is required that the close-loop poles not be coincident with the open-loop ones.

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