本文讨论带输入导数的线性多变量系统 x=Ax+B_0u+B_1u 和二次型指标 J=∫_0~∞(x’Qx+u’Ru)ds 所确定的最优控制问题。通过变换将其化为标准的二次型指标最优控制问题而解之,由此再求原问题的解。其间讨论原问题的适当性及闭环系统的稳定性。 This paper discusses the optimal control problem determined by the linear multivariable system with input derivatives x = Ax + B_0u + B_1u and the quadratic index J = ∫_0 ~ ∞ (x’Qx + u’Ru) ds. By transforming it into a standard quadratic optimal control problem, we solve the solution to the original problem. During the discussion of the appropriateness of the original problem and the stability of the closed-loop system.