基于动力学等价的一种通用控制器的设计

在动力学运动方程的基础上，构建了一种系统状态观测器，该观察器能够精确估计被控对象的位置、速度和加速度而无需知道其数学模型。在此基础上，设计了一种通用控制器，该控制器通过系统运动的位置、速度和加速度的负反馈作用，把原被控对象的输出轨迹引导控制到期望的系统输出轨迹，能提高系统的控制品质和鲁棒性能。分析了PID控制器、内模控制器、状态控制器、预测控制器和鲁棒控制器的算法特性，指出这些控制器与所设计的通用控制器在动力学意义上具有等价性。

Design of a general controller based on dynamics identity

A state observer based on dynamics is constructed, the state observer perfectly estimates the position, velocity and acceleration of controlled plant without a controlled plant model. A general controller is designed, the controller can improve performance and quality of control system. The plant output is controlled to follow the desired output by using feedback control of position, velocity and acceleration. The authors consider that PID controller, state feedback controller, robust controller, inner model controller and GPC/MPC controller are identical in the transfer function and dynamics, that is to say, the controllers in dynamics have identity each other.