【摘要】 以往的ＭＲＡＣＳ设计方法都存在正反馈环，且属同阶跟随同阶的情况。正反馈环的使用往往存在会使系统不稳定的缺点，本文用线性前馈环节取代了正反馈环，解决了稳定问题，提高了抗噪声能力，并把原来同阶系统跟随同阶模型的方法，推广为高阶系统跟随低阶模型的ＭＲＡＣＳ设计。更多还原

【Abstract】 There always are the positive feedback loop in the former MRACS design ways, and they are the cases of the sys- tem following the same degree model. The Positive feedback loop may cause the instability of the control System. This paper uses a linear feed-forward loop instead of the Positive feedback loop, it solves the stability problem of system and enhances the anti-interference ability, and it adapts to the situation of the high degree system following the low degree model.更多还原