一种非线性PD控制器设计

为了提高PD控制器的性能，提出了一种非线性设计方法。利用电容极间电场和PD控制器的控制作用之间存在的一些相似性，构造了一种非线性函数，并以此形成一种非线性PD控制器，这种控制器能为系统的运行状态提供灵活的增益策略；利用系统的运行状态信息，在相平面中实时旋转该电容结构，可以减少这种非线性PD控制器的设计参数。通过对一个机械手系统进行仿真，结果表明，这种控制方式能够获得较好的系统动态响应速度和参数鲁棒性能。

An Approach for Nonlinear PD Controller Design

A nonlinear design approach is presented to improve the performances of PD controller. Considering some similarities between the electrical field of a capacitor and the control effect of a conventional PD controller, a nonlinear function is constructed. This function can form a kind of nonlinear PD control algorithm, and give out a flexible gain schedule. However, such nonlinear PD controller has more parameters need to be determined than the conventional PD controller. For more simply, the capacitor in phase plane is rotated according to the real time state of the system. This modified approach can reduce the number of parameters need to be design. Simulation result on a simple robot shows that the method can give better performance for response speed and robustness of parameter uncertainty.