一类不确定信号的跟踪问题及应用

An Easy Method for Tracking Unknown Signals

将线性时不变系统跟踪外部Ｌ２有界不确定信号的问题，归为一类包含被跟踪信号动力学特性的广义对象的控制器设计问题，给出了分析求解过程。应用于速度伺服系统，仿真结果表明，系统具有良好的跟踪外部参考输入和抑制力矩扰动的特点，同时设计过程为模型匹配控制器的设计问题提供了一种方法。

This paper offers an easy method for solving the problem of tracking L 2 bounded signals which are unknown but can be measured online. It can lead to optimal tracking and satisfactory disturbance attenuations. Our idea is to formulate a general system which involves the dynamics of the L 2 bounded signals. Based on the solution of a Riccati equation, a gametheory approach to the tracking problem, which is formulated as a quadratic cost criterion, is used to determine the state feedback controller, whose paramaters are given by eqs.(26) and (27). Finally we give simulation results in Figs.2 and 3 for the control system shown schematically in Fig.1. Figs.2 and 3 show good tracking and disturbanceattenuation performances. We emphasize the ease of our method in finding two gain matrices K r and K x , which, in fact, are parameters of a type of twodegreeoffreedom controller.