针对不稳定对象的四自由度内模控制

Four-Degree-Freedom Internal Model Control for Unstable Objects

针对常规的不稳定对象内模控制方法,加入前馈滤波器以及反馈滤波器构成四自由度内模控制结构,用以独立优化抗扰性、跟踪性和鲁棒性。给出了四自由度内模控制结构的稳定性、稳态性能和鲁棒稳定性的证明,推导出了各个控制器的设计方法,完善了不稳定对象内模控制的理论体系。

Aiming at the conventional method for unstable objects' internal model control,both feed-forward filter and feed-back filter were employed to constitute a four-degree-freedom internal model control structure so as to independently optimize the immunity to disturbance and the tracking and the robustness;the control structure's stability,steady-state performance and robust stability were proved to present various controllers' design methods and to have a theoretical system of internal model control for unstable objects improved.