一种新的自校正前馈控制器*

本文提出了一种新的单输入单输出自校正前馈控制器。该控制器采用了对系统输入、输出、参考输入以及可测干扰和偏差加权的二次性能指标。该控制器不仅不加积分作用可以消除可测干扰的影响,消除稳态跟踪误差和偏差,而且即使用于非最小相位系统也具有全局收敛特性。

A New Self-tuning Feedforward Controller

This paper presents a new single-input single-output self-tuning feedforward controller which adopts a cost function incorporating weighted system input, output, set-point variations, measurable disturbances and offset. This controller not only eliminates steady state tracking error, offset and effect of measurable disturbances without having to contain integral action continuously, but also is globally convergent, even for nonminimum phase systems.