First , robust eigenstructure assignment , eigenstructure assignment is an effective method for output decoupling of mimo system . here , we first design an objective function in term of desired location of close - loop eigensvalues , achievable structure of close - loop eigenvectors and the unstructured time - varying parameter perturbations in system matrix 特征结构配置对于mimo系统的解耦控制是一种很有效的方法,本文提出的算法是:设计一个性能指标函数,综合考虑特征向量的接近程度,未被配置的特征值的稳定性及系统的非结构型扰动。