内模控制系统鲁棒跟踪控制器的参数化及优化  

Parameterization and optimization of robust tracking controllers for internal model control systems

作　　者：赵耀[1] 

机构地区：[1]四川大学电气信息学院,成都610065

出　　处：《控制与决策》2009年第5期734-737,共4页Control and Decision

摘　　要：针对最常用的2自由度内模控制系统,利用基于传递函数互质分解的频域理论,推导了存在模型失配且参考输入和扰动为任意已知函数时,所有能实现稳态无差跟踪的前馈控制器和反馈滤波器的参数化表达式.所得结论同时适用于连续和离散时间系统,并可在参数化基础上实现频域的优化控制.By using the transfer-function-based factorization approach in the frequency domain, the parameterized representations of all feedforward controllers and feedback filters are derived for most frequently-used two-degree-of- freedom internal model control （IMC） systems, which can eliminate steady-state tracking error under the model mismatches and for any given reference input and disturbance. The obtained results can be applied to both continuous- time and discrete-time systems. The optimal control in the frequency domain can be realized based on this parameterization.

关 键 词：内模控制 鲁棒跟踪 参数化 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]