带阶跃扰动的线性时滞系统最优无静差控制

研究线性时滞系统在阶跃扰动作用下的最优控制问题．首先基于内模原理构造扰动补偿器，以完全消除阶跃扰动对系统的影响。并将原系统的最优无静差扰动抑制问题转化为无扰动最优控制问题；然后利用灵敏度方法，求得由精确的解析项和伴随向量级数形式补偿项组成的最优控制律，通过截取伴随向量级数的有限项和．可得到次优无静差控制律．仿真实例验证了该方法的有效性．

Optimal Zero Steady-state Error Control to Step Disturbances for Linear Systems with Time-delay

The optimal control for linear systems with time-delay affected by additive step disturbances is considered. Based on the internal model principle, a disturbance compensator is constructed to cancel the disturbances completely. The optimal disturbance rejection problem with zero steady-state error for time-delay systems affected by disturbances is transformed to an optimal control problem without disturbances. Then, using the sensitivity approach, the optimal control law is obtained consisting of an analytic state feedback term and a compensation term which is a series sum of the adjoint vectors. By intercepting finite sum of the adjoint vectors series, a suboptimal feedback control law with zero steady-state error is obtained. A simulation example shows the validity of the algorithm.