基于建模误差估计的 Smith 补偿器鲁棒稳定化自动整定算法

An Robust Stability Automatic tuning Algorithm for Smith Compensator Based on the Estimate of the Modeling Error

本文针对Ｓｍｉｔｈ补偿器研究实现其参数自动整定的方法。通过辨识过程在特定频段上的响应信息估计建模误差的大小，并将其转化为模型参数摄动进行控制器参数的鲁棒稳定化设计。同时给出了针对有关参数摄动鲁棒稳定化设计的一个新充分性判据。仿真结果表明了算法良好的控制效果与可实现性。

In this paper,an automatic tuning algorithm is developed for Smith compensator.By identifying the point on the Nyquist curve of the process in the frequency interval on which large modeling error may happen,we give an estimation of the modeling error.Since the modeling error is dealt with as parameter uncertainties,the robust stability design will give the parameters of the Smith compensator and its PID controller.The sufficient condition of the robust stability design is also given.