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针对状态反馈加前置比例补偿对系统进行解耦的充分必要条件及积分型解耦方法，提出了采用输出至Ｘ的输出反馈加本文定义的环内后置比例补偿对系统进行解耦的充分必要条件积分型解耦方法。克服了状态反馈在许多时候要设计观测器；避免了对部分系统进行对角优势解耦，具有一定的理论和实用价值。
A sufficient and necessary condition for decoupling the system with state feedback and pre-proportional compensation and the integral decoupling method are proposed. The output feedback from output to X plus the in-loop post-ratio compensation defined in this paper is used to decouple the system sufficiently Necessary condition Integral decoupling method. Overcome the state feedback in many cases to design the observer; to avoid the decoupling of some systems diagonal advantage, has a certain theoretical and practical value.