不确定性系统输出各阶导数的自校正观测

Self-tuning observing derivatives of various orders of an uncertain system output

在许多反馈控制中 ,常用到系统输出的各阶导数 ,而系统输出的各阶导数都很难直接测量出来 ,尽管在理论上可通过对输出微分求得 ,但实际应用中 ,由于噪声的影响 ,微分信号很难反映真实的各阶导数 .针对如何精确地观测出不确定性系统输出的各阶导数 ,提出各阶导数自校正观测的基本思想 ,并介绍了自校正观测器的原理和设计方法 ,最后给出了被控对象输出各阶导数的自校正观测的计算公式和实现算法 .

Derivatives of various orders of system output are often used in the feedback control, but it is difficult to measure them. They can be obtained by derivation in theory, but because of noise, the derivative signals can not reflect the true values. This article reports researches on how observe accurately output derivatives of various orders of an uncertain system output; proposes an ideal method for self-tuning observing output derivatives of various orders of controlled object, and introduces its principle and design. In the end, The expression and algorithm on self-tuning observing of the derivatives of various orders of system's output are given.