具有时滞的积分和不稳定对象的鲁棒控制

针对含时滞的积分和不稳定对象提出了一种新颖的两自由度控制结构,首先用一个比例控制器镇定给定值响应,然后基于鲁棒H₂最优性能指标设计给定值跟踪控制器.根据实际运行抗干扰要求,在对象输入和输出端之间设计负载扰动抑制闭环,利用扰动观测器抑制负载干扰信号,通过提出期望的闭环余灵敏度函数来确定扰动观测器,同时给出了扰动抑制闭环保证鲁棒稳定性的充要条件.最后通过仿真实例验证了该方法相对于近期其它方法的优越性.

Robust control method for integrating and unstable plants with time delay

A novel two-degree-of-freedom control structure is proposed for integrating and unstable plants with time delay.Firstly,a proportional controller was subtly employed to stabilize the set-point response.Then the set-point tracking controller was designed in terms of the robust H-2 optimal performance specification.According to the practical operation requirement for disturbance rejection,a load disturbance rejection closed-loop was configured between the plant input and output,in which the disturbance observer was commissioned for rejecting load disturbances.The disturbance observer was derived by proposing the desired closed-loop complementary sensitivity function.Meanwhile the sufficient and necessary conditions were provided for holding the closed-loop robust stability.Finally,simulation examples were included to demonstrate the superiority of the proposed method over recent other approaches.