对给定的系统实施基于内模原理的LQR控制。首先对系统进行讲解，然后求解出状态反馈矩阵K，调整参数后用于控制低阶系统，最后控制高阶系统-LQR control based on internal model principle for a given system. First, explain the system, then solve the state feedback matrix K, adjust the parameters for the control of low order