Optimal controller is combined of a optimal reduced order state estimator and a optimal static output feedback gain matrix.

动态反馈控制器可表示为一个最优降维状态估值器和一个最优静态反馈增益阵。

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The practical results show that if the state feedback matrix is chosen properly, the system has good dynamic and static state performances and has robustness for parameters varying.

仿真结果表明，若适当选择状态反馈阵，则整个系统可以得到优良的动静态特性，并对参数变化具有鲁棒性。

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Moreover, we prove that if the disturbance decoupling problem is solvable by a dynamic state feedback, then it is solvable by a quasi static feedback.

最后证明了：系统可用动态状态反馈解耦，也可通过拟静态状态反馈进行解耦。

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