所谓阶梯式控制，就是对未来控制量的变化加以约束，强迫未来控制量以一阶指数响应曲线的形式变化。在这种控制策略下，可以避免求解控制律时的矩阵求逆，且在处理约束限制时，可方便将 和 的约束转化为对 的约束，减少了算法计算量。-The so-called ladder-type control, is the change in the future to control the amount of bound, forced to the future control the amount of th

We present a study of a matrix pencil method for esti- mating parameters (frequencies and damping factors) of exponentially damped and/or undamped sinusoids in noise. Comparison of this method to a polynomial method (SVD-Prony method) shows