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中文摘要：
为了给出闭环增益成形算法的模型摄动形式，用小增益理论和H混合灵敏度算法的结果进行推导，发现闭环增益成形算法的模型摄动形式与灵敏度函数的形式相同，该结论对用闭环增益成形算法设计鲁棒控制器时系统所能忍受的模型摄动大小的确定具有指导意义．闭环增益成形算法的优点是设计过程简单，物理意义明显．
英文摘要：
In order to express the format of model perturbation for closed-loop gain shaping algorithm, a deduction was given based on the small gain theory and H mixed sensitivity algorithm. It follows that the format of model perturbation for closed-loop gain shaping algorithm is the same as that of the sensitivity function. It is of instructive significance to the design of robust controller when the closed- loop gain shaping algorithm is used to decide the magnitude of the model perturbation. The closed-loop gain shaping algorithm has the advantages of simple design procedure and obvious physical sense.
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