Then, the four procedures of controller synthesis, namely, the constraint transformation method (CTM), the eigen marking method (EMM), the linear integer program method (LIP) and the extended linear integer program method (ELIP) are discussed one by one.

• 接着研究了四种具体的控制器综合方法，即约束变换法、特征标识法、线性整数规划法和扩展线性整数规划法。