基于跟踪微分器的广义通用模型控制器研究

广义通用模型控制方法是一般模型控制方法的改进，适用于相对阶大于1的被控对象。为克服广义通用模型控制方法要求被控对象状态完全可观测的不足，基于跟踪微分器可以跟踪输入信号，同时估计输入信号微分的特点，将跟踪微分器与广义通用模型控制器相结合，利用跟踪微分器的信号跟踪和微分估计能力，将输出及其微分进行反馈，克服了广义通用模型控制器要求被控对象状态完全可观的局限性。针对相对阶为2的被控对象，仿真实验验证了该方法的有效性和鲁棒性。

On Generalized Common Model Controller Based on Tracking Differentiator

Generalized common model control(GCMC),which is appropriate for the controlled object with order bigger than 1,comes from generic model control(GMC).GCMC requires the state of the controlled object being observed completely.Combining the tracking differentiator(TD)with the generalized common model controller,utilising the tracking and differentiator estimating ability,and making feedback to the output and its differential,the disadvantage of the generalized common model controller is overcomed.The simulation result of a second-order object shows the effectiveness and robustness of the generalized common model controller based on the tracking differentiator for nonlinear systems.