An unstable process is transformed into a minimum-phasesystem through mirror-injection, then solve the robust controller using closed loop gain shaping algorithm.
通过镜像映射将非稳定过程转换成最小相位系统，然后用闭环增益成形算法求解鲁棒控制器。
2
Using the non minimumphasesystem parameter model transformation of the model for the controller design.
采用了非最小相位系统参数模型转换为参数模型的控制器的设计。
3
Secondly, the model was transformed into the minimumphasesystem.