本文讨论了一种新的具有指定极点的多变量自校正控制器的设计方法。它改进了文献所提出的算法。该算法能够控制非最小相位系统,开环不稳定系统和B_0阵为奇异的不同时延系统,即可在线配置闭环极点又可离线配置闭环极点。同时,本文还表明文献给出的算法可以认为是本文结果的特例。最后给出计算机仿真结果,说明这种控制器的实用性和有效性。 This paper discusses a new design method of multivariable self-tuning controller with specified poles. It improves the algorithm proposed in the literature. The algorithm can control non-minimum phase system, open-loop unstable system and B_0 array with different time-delay system, so that the closed-loop poles can be configured online and closed-loop poles off-line. At the same time, this paper also shows that the algorithm given in the literature can be considered as a special case of the results of this article. Finally, computer simulation results are given to illustrate the practicality and effectiveness of this controller.