一阶惯性大时滞系统Smith预估自抗扰控制

大时滞系统是工业过程控制中的典型难题，将先进控制方法应用于大时滞系统时需要与传统的Smith预估器相结合才能获得理想的控制效果。针对一阶惯性大时滞系统，研究了Smith预估器与线性自抗扰控制技术相结合的设计问题，分析了系统的稳定条件和参数摄动问题。证明了当被控对象参数与Smith预估器参数相同时，闭环控制系统稳定的结论，同时推导了参数不同时控制系统稳定的一个充分条件。另外基于数值仿真，从暂态性能、稳定裕度和抗扰能力三方面分析了系统参数和控制参数摄动的影响作用，这些结果可用于Smith预估器和线性自抗扰控制器参数的整定。

Smith prediction and active disturbance rejection control for first-order inertial systems with long time-delay

A system with long time-delay is a typical difficulty experienced in industrial process control. When an advanced control method is applied to such a system, an ideal control effect can be obtained only by combining it with a traditional Smith predictor. In this paper, we address first-order inertial systems with long time-delay, investigate the combined design of a Smith predictor with the linear active disturbance rejection control (LADRC) technique, and discuss the system stability conditions and parameter perturbations. We prove that the closed-loop control system is stable when the parameters of the controlled object are identical to the Smith predictor parameters. Moreover, we deduce a sufficient condition for maintaining the stability of the control system when these parameters differ. In addition, using numerical simulation, we analyze the impacts of perturbation of the system and control parameters on the transient performance, stability margin, and disturbance rejection ability. These results can be used to tune the parameters of the Smith predictor and LADRC controller.