摘要：在伺服控制系统中，闭环幅频特性峰值最小（Mrmin）准则，是典型Ⅱ型系统调节器工程设计的主要方法和依据，得到广泛使用。本文将通过仿真软件Matlab的M文件编程，对其参数选取公式给予推导和动态跟随性能指标进行仿真，对于设计者学习、理解和灵活应用该准则，设计出性能优异的控制系统，具有一定的意义。

关键词：典型Ⅱ型系统；（Mrmin）准则；Matlab仿真
Abstract: In servo control system, closedloop amplitude frequency characteristic peak minimum (Mrmin) criterion, is a typical type II system to regulate the main method and basis for engineering design, widely used. Through the simulation software Matlab M programming documents, proved and dynamic tracking performance index simulation selection formula of its parameters, for the designers of learning, understanding and flexible application of this criterion, which has a certain significance.

Key words: the type II system；Mrmin criterion；Matlab simulation