基于非线性PID的非最小相位系统控制

提出一种新型非线性PID控制器简单结构，利用非线性PID控制器的非线性特性，抑制非最小相位系统的右半平面零点所造成的负调问题，克服非最小相位系统的超凋、负调和调整时间之间的矛盾。数值仿真结果表明，由非线性PID控制器构成的非最小相位系统具有良好的动静态性能、高的控制精度和较强的鲁棒性。数值结果说明方法有效，算法简单，易于实时实现。

Non- Minimum Phase System Control Based on Nonlinear PID

A new simple structure of nonlinear PID controller is proposed.By using the nonlinear property of nonlinear PID controller to eliminate the undershoot caused by zeros in the right-half plane of non-minimum phase systems.This design overcomes the conflict of overshoot,undershoot and settling time of non-minimum phase systems. The numerical simulation results show that non-minimum phase systems formed by nonlinear PID controller have the superior static and dynamic performance,higher control accuracy and better robustness. The numerical result has shown the feasibility and efficiency of the method, additionally, the algorithm is very easy to be implemented with low computational complexity.