具有控制时滞系统的最优无静差正弦扰动抑制

研究在外部正弦扰动作用下，控制含时滞的线性系统的最优无静差调节器设计问题．首先利用Artstein变换将控制变量含时滞的系统转化为不舍时滞的系统；然后利用内模原理构造扰动补偿器，将带扰动的系统转化为无扰动的增广系统，从而将无静差扰动抑制问题转化为无扰动增广系统的最优调节器设计问题；最后利用最优控制理论求得最优无静差反馈控制律．仿真结果表明了所提出方法的有效性．

Sinusoidal disturbance optimal rejection with zero steady-state error for systems with control time-delay

The design of an optimal regulator with zero steady-state error for linear systems with control time-delay affected is researched with sinusoidal disturbances. The system with control time-delay is transformed into one without time-delay through the Artstein transform. Then based on the internal model principle, a disturbance compensator is designed, by which the plant model with external disturbances is transformed into an augmented system without disturbances. Consequently, the problem of disturbance rejection with zero steady-state error is transformed into the problem of designing an optimal controller for the augmented plant without disturbances. By .using the optimal control theory, an optimal feedback control law with zero steady-state error is obtained. The simulation results show the effectiveness of the proposed control method.