An unstable process is transformed into a minimum-phase system through mirror-injection, then solve the robust controller using closed loop gain shaping algorithm.
通过镜像映射将非稳定过程转换成最小相位系统，然后用闭环增益成形算法求解鲁棒控制器。
Using the non minimum phase system parameter model transformation of the model for the controller design.
采用了非最小相位系统参数模型转换为参数模型的控制器的设计。
Secondly, the model was transformed into the minimum phase system.
讨论了一类非最小相位系统的输出跟踪问题。
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