摘要
针对最常用的2自由度内模控制系统,利用基于传递函数互质分解的频域理论,推导了存在模型失配且参考输入和扰动为任意已知函数时,所有能实现稳态无差跟踪的前馈控制器和反馈滤波器的参数化表达式.所得结论同时适用于连续和离散时间系统,并可在参数化基础上实现频域的优化控制.
By using the transfer-function-based factorization approach in the frequency domain, the parameterized representations of all feedforward controllers and feedback filters are derived for most frequently-used two-degree-of- freedom internal model control （IMC） systems, which can eliminate steady-state tracking error under the model mismatches and for any given reference input and disturbance. The obtained results can be applied to both continuous- time and discrete-time systems. The optimal control in the frequency domain can be realized based on this parameterization.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第5期734-737,共4页
Control and Decision
关键词
内模控制
鲁棒跟踪
参数化
Internal model control
Robust tracking
Parameterization
