一种鲁棒稳定的自校正控制器

A Robust-Stable Self-Tuning Controller

对于一类带有未建模动态和有界外部扰动的离散线性系统提出了一种新的自校正控制算法。此算法不要求系统参数更多的先验知识。不但能保证闭环系统是鲁棒稳定的。而且平均跟随误差趋于零。从而说明本文方法具有消除各种可能存在的稳态误差的能力,仿真结果证明了本文方法的有效性。

A new self-tuning control algorithm is presented for a class of linear discrete time systems with unmodeled dynamics and bounded disturbances. This algorithm requires not much a priori knowledge of the system parameters.and ensures that not only the resulting closed loop system is robust-stable with respect to unmodeled dynamics and bounded disturbances.but also the average tracking error approaches to zero, which thus implies that the algorithm is capable of removing various potential steady-state errors. Simulation results demonstrate effectiveness of the algorithm.