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.
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。
Using the theory of generalized inverse matrix, a perfect algorithm of recurrence for least square has been derived. And from this algorithm, some corollaries of great significance were obtained.
利用广义逆矩阵的理论，本文给出了完整的最小二乘递推算法，并由此得到若干很有意义的推论。
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