The controllers are designed by linear quadratic Gaussian (LQG) method truncated by a balanced truncation method.

控制律采用线性二次型高斯(LQG)方法，结合平衡截断法降阶。

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CGMIL method is situated between MIL and balanced truncation in performance of model reduction and has advantage among the model reduction methods based on the information theoretic methods.

CGMIL方法在信息类模型降阶方法中有很强的优势，在性能上介于MIL和平衡截断之间。

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