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ＬＱＧ／ＬＴＲ是一种现代多变量频域设计方法，它以良好的鲁棒性能和解耦特性而得到广泛应用，但是该方法通常只适用于最小相位被控对象。本文以直观的物理含义说明了ＬＱＧ／ＬＴＲ方法的基本原理，探讨了非最小相位被控对象的处理方法以及多变量控制系统设计中一些值得注意的问题，并将它应用某飞机的到非最小相位的纵向飞行轨迹控制系统设计中去。设计中考虑了飞机的模型不确定性和随机风干扰的影响。仿真表明，采用该方法可以取得良好的控制效果。
LQG / LTR is a modern multivariable frequency domain design method, which is widely used due to its good robustness and decoupling characteristics. However, this method is usually only applicable to the minimum phase controlled object. In this paper, the basic principle of LQG / LTR method is described with intuitive physical meaning. The processing methods of non-minimum phase controlled object and some noteworthy problems in the design of multivariable control system are discussed. It is applied to a non-minimum Phase longitudinal flight path control system design to go. The design takes into account the aircraft model uncertainty and random wind disturbance. Simulation shows that the method can achieve good control effect.