中文摘要：

为了改进控制系统的瞬态响应以及提高控制系统的鲁棒性,利用内模控制器中滤波器起着重要作用的特点和Butterworth滤波器具有理想的低通特性的优点,对内模控制中滤波器的设计进行了改进,设计了优化的Butterworth滤波器,同时进行了仿真研究。研究结果表明：该方法提高了系统的响应品质,提高了系统的鲁棒性,研究结果具有实际应用价值。

英文摘要：

To improve the transient response and the robustness of control system,improvement was made of the filter design for internal model control,based on the important role of the filter in internal model control（IMC） and the ideal low-pass of the Butterworth filter.Also,optimized Butterworth filter was designed before a simulation study.Results show that the filter＇s optimized design can improve the system＇s response quality and robustness.Therefore,the study is of practical application value.