按灵敏度与传递函数设计的二自由度控制方法

A Two Degress of Freedom Control Scheme Designed According to Sensitivity and Transfer Function

根据灵敏度函数的概念，利用模型参考自适应的原理，提出了按系统灵敏度函数与系统传递函数独立设计的二自由度控制方案。论证了二自由度控制原理，并推导了实现这一控制的条件，理论研究和实验结果表明，将这一控制思想运用于参数大范围变化的控制系统设计时，能极大增强系统的鲁棒性。

Based on the concept of the sensitivity function,a two degrees of freedom controlscheme for designing a high performance system in which the closed loop and sensitivity loopare designed independently is proposed. The principle of two degrees of freedom control isdiscussed and the constraint conditions are given. Experimental results show that the robust-ness of a system with the control proposed is significantly improved,especially for a controlsystem with the parameters varying in a wide range.