Based on the Hamiltonian system's theory, the relationship between closed-loop poles of system characteristic equation and weighting matrices was thoroughly investigated.
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。
After building closed-loop model, we can analyze and evaluate the performances of IFOG in theory, and improve it, which provide evidences for designing system and choosing optical components.
闭环模型建立后，能从理论上分析、评价、改善IFOG性能，为系统设计和选择光学器件提供了依据。
By the limit probability theory, it is shown that the closed-loop system is almost surely uniformly stable, and the control law is asymptotically optimal.
利用概率极限理论，证明了闭环系统的几乎必然一致稳定性和控制律的渐近最优性。
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