本文运用四阶Ｒｕｎｇｅ－Ｋｕｔｔａ法建立了在迟时情况下结构状态方程的离散形式，采用瞬时控制开闭环最优控制算法对开环、闭环和开闭环控制中迟时的影响进行研究，并根据闭环控制的原理提出了迟时补偿算法，以减小迟时的影响。 In this paper, the fourth-order Runge-Kutta method is used to establish the discrete form of the structural state equation in the late-time condition. The influence of the delay control in the open-loop, closed-loop and open-closed loop control is studied by using the instantaneous control open-closed loop optimal control algorithm. The principle of closed-loop control proposes a late-time compensation algorithm to reduce the effects of late-time.