一类可解耦MIMO系统的模型跟随变结构控制

结合线性多变量系统解耦理论与变结构控制的优点，采用鲁棒控制系统理论中的二自由度结构法的设计思想，提出了一种对于可解耦多输入多输出线性系统的模型跟随变结构控制方法，对于一类满足解耦条件的多输入输出跟踪系统，分两步进行设计，首先对被控对象标称模型进行解耦和稳定化极点配置，将得到的控制表达式作为最终控制律的第一部分，其次，以前一部分设计构成的闭环系统模型作为参考模型建立模型跟随偏差系统，并求出变结构控制律，作为最终控制的律的第二部分，从而使被控系统在存在内部模型参数摄动和外部干扰的情况下，仍然具有优良的动态性能，利用Lyapunov方法证明了所设计的模型跟随编差系统是稳定的，最后，通过仿真实例，表明了所提出的方法是正确的。

Control of model-following variable structures for a class of able-decoupled MIMO systems

Taking the advantage of the decouple theory about multivariable linear systems and the advantage of variable structure control, a control of model following variable structures was designed using the two free degrees structure method in robust control systems theory for a class of multi inputs and multi outputs system. As the first step, the normal model is decoupled and stabilized, and the control expression is taken as the first part of the whole control law. As the second step, the model following error system was set up with the closed loop model designed by the first step as the reference model. The variable structure control law is derived from the error system. As a result, the method enabled the controlled plant to maintain a high performance in the presence of uncertainty and disturbances. It was also proved using Lyapunov stability theory that the model following error system is stable.