一种鲁棒自校正内模控制器及其全局收敛性

Robust Internal Model Controller and Its Global Convergence

给出了一种能适用于开环不稳定且非最小相位系统的鲁律自校正内模控制器，证明了闭环系统的鲁棒性和全局收敛性．仿真研究证实了算法的可行性．

A robust internal model control algorithm, which can be used in open-loopunstable systems, is presented, with itS robustness and global convergence is proved. The simulation example demonstrate the effectivness of the algorithm proposed.