采用了零点配置方法来设计具有强鲁棒性的时滞滤波器 ,消除小阻尼不确定性系统的残留振荡。在系统极点附近配置多个滤波器零点 ,通过建立离散传递函数来得到时滞滤波器方程 ,设计简单 ,减少了计算量。该方法在起重机载荷防摆控制中得到了很好的应用 ,能够有效地消除载荷的摆动 ,对缆绳长度的变化具有很好的鲁棒性 A zero-point configuration method is used to design a robust filter with time delay to eliminate the residual oscillation of the system with small damping uncertainty. Multiple filter zero points are arranged near the pole of the system, and the time delay filter equation is obtained by establishing a discrete transfer function. The design is simple and the amount of calculation is reduced. The method is well applied in the anti-swing control of crane load, which can effectively eliminate the swing of the load and has good robustness to the variation of the cable length