基于高阶干扰观测器的极点配置控制器及应用

本文设计了一种可以对外部干扰进行估计的高阶干扰观测器,并针对一类具有外部干扰的单输入单输出离散时间线性系统,提出了一种基于高阶干扰观测器的极点配置控制方法.该方法由常规极点配置控制器和高阶干扰观测器组成.常规极点配置控制器用来保证闭环系统稳定,并将闭环系统的极点配置到理想位置,高阶干扰观测器用来补偿外部干扰对闭环系统的影响.理论分析以及仿真和水箱液位系统中的实验结果表明了所提方法的有效性和优越性.

Pole assignment controller based on higher order disturbance observer and its application

In this paper, a higher-order disturbance observer is designed to estimate external disturbance, and a pole placement control method based on the higher-order disturbance observer is proposed for a class of single-input singleoutput discrete-time linear systems with external disturbance. The method consists of a conventional pole assignment controller and a higher-order disturbance observer. The conventional pole assignment controller is used to ensure the stability of the closed-loop system, and places its poles to the ideal position. The higher-order disturbance observer is used to compensate the influence of external disturbance on the closed-loop system. Theoretical analysis, simulation and experimental results in a water-tank level system show the effectiveness and superiority of the proposed method.