基于误差空间的鲁棒跟踪控制

为精确跟踪参考输入信号、抑制扰动信号，将输入信号和扰动信号满足的方程作为问题公式的一部分，在误差空间中设计鲁棒跟踪控制器；并加入前馈控制，改善系统的动态性能，提高系统抑制扰动的能力，使系统能以零稳态误差跟踪非衰减输入，零稳态误差抑制非衰减扰动，并在某些参数变化的情况下能准确跟踪输入信号．仿真结果表明系统具有很强的鲁棒性、优良的动态性能和稳态性能．

Robust Tracking Control Based on Error Space

In order to track reference input signal and restrain disturbance signal accurately, this paper considers the equations of input and disturbance signal as a part of the problem formula and designs the robust tracking controller in the error space. Feedforward control is added to the robust tracking controller to improve the dynamic performance and the ability to restrain disturbance. Finally, the system can track no-attenuation input and restrain some disturbances with zero errors. If some parameters change, the controller also can track the input signal accurately. Simulation results indicate that the robustness, dynamic performance and stable performance of the system are good.