Internal control can be defined, in essence, as an aggregation of management activities with control function and a dynamic process of designing and enforcing system.
内部控制本质上是具有控制职能的企业管理活动集合，是围绕内部控制制度的设计与实施的一个动态过程。
First, the state feedback is used to improve the process static and dynamic performance. Then, the controller is designed based on the internal model control principle.
采用了双环控制结构，先构造内环状态反馈以改善对象动态特性，然后按照内模控制原理设计外环的控制器。
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