In this paper, high-order fully actuated (HOFA) models with multiple orders for general dynamical control systems are firstly proposed, for which controllers can be easily designed such that the closed-loop systems are constant linear ones with completely assignable eigenstructures. Based on this special feature of the type of HOFA models, controllability of general dynamical control systems is proposed. It is revealed that a general dynamical control system can be represented by a controllable subsystem described by a HOFA model, and an extra uncontrollable one or supplementary one. While a general dynamical control system is called stabilisable if its uncontrollable (autonomous) subsystem does not exist, or is stable in a certain sense. Finally, two parametric design approaches for control of the type of general HOFA models are proposed, which provide all the design degrees of freedom. Several examples, including ones of sub-fully actuated systems, are treated, which demonstrate the effect of the proposed theories.

在本文中，首先提出了用于一般动态控制系统的多阶高阶完全驱动（HOFA）模型，其控制器可以很容易地设计，使得闭环系统是具有完全可分配特征结构的恒定线性系统。基于HOFA模型类型的这一特点，提出了通用动力控制系统的可控性。揭示了一个通用的动态控制系统可以用一个 HOFA 模型描述的可控子系统和一个额外的不可控子系统或补充子系统来表示。而一般的动态控制系统如果不存在其不可控（自主）子系统，或者在某种意义上是稳定的，则称为稳定的。最后，提出了两种用于控制一般 HOFA 模型类型的参数化设计方法，它提供了所有的设计自由度。处理了几个例子，包括亚全驱动系统的例子，它们证明了所提出的理论的效果。