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针对被控对象的执行机构对控制系统的影响，采用三重时间尺度的奇异摄动方法来展示闭环跟踪系统的渐近结构特性，从而极大地方便了解耦控制律的设计和控制矩阵的确定．并以考虑执行机构及旋翼动态的某型直升机为例，进行了多重模型／解耦控制律设计和仿真．
According to the influence of the actuator to the control system, a three-times singularly perturbed method is used to show the asymptotic structural characteristics of the closed-loop tracking system. This makes it easy to understand the design of the coupled control law and the determination of the control matrix. Taking a helicopter with rotor and actuator as an example, the design and simulation of multiple model / decoupling control law are carried out.