控制系统的无静差最优扰动抑制

Optimal Rejection with Zero Steady-State Error for Control Systems

研究具有外部持续扰动的线性控制系统最优无静差扰动抑制问题。通过构造无静差内模扰动补偿器,将带持续扰动的系统转化为无扰动的增广系统。从而将最优无静差扰动抑制问题转化为无扰动增广系统的最优控制问题。利用系统能控和能观测的秩判据证明了增广系统的能控性和能观测性。通过该方法求得的控制律既实现了扰动的完全抑制又达到了最优控制目的,且具有较好的鲁棒性。

The problem of optimal rejection with zero steady-state error for linear systems with persistent disturbances is considered. Based on the internal model principle, a disturbance compensator is constructed such that the system model with external disturbances is transformed into an augmented system without disturbances. Consequently the problem of disturbance rejection for zero steady-state error is transformed into the optimal control problem for systems without disturbances. By the order criterion of controllability and observability, the augmented system has been proved to be controllable and observable. By the optimal control theory, the obtained optimal feedback control law can cancel disturbances completely and is more robust.