基于变结构扩张状态观测器的状态PI控制器

A State PI Controller Based on Variable Structure Extended State Observer

传统的状态PI控制器只适用于单输入单输出(SISO)线性系统。针对这一不足,将"变结构扩张状态控制器"技术应用到状态PI控制器中,使改进后的控制器适用于非线性系统控制。同时发挥了变结构控制理论的优势,既保留了原控制器的优点又减少了可调参数。仿真结果验证了新状态PI控制器具有良好的稳定性和鲁棒性。

The extended state observer （ESO） based on variable structure was introduced to improve the effect of the state PI （SPI） controller that only adapt to the single input single output （SISO） linear systems. It took full use of the estimate of the system model and outer disturbance to compensate the SPI controller, so that the improved SPI controller could be appropriate to the SISO nonlinear system. The principle of the variable structure control was used to reduce the number of parameters. The simulation result shows that the controller has better stability and robustness than the traditional SPI controller as parameter and outer disturbance changed.