带预估控制量二次约束的无静差FIR型内模控制器

Design of the Zero-Offset FIR Internal Model Controller with Quadratic Constraint on the Predictive Estimation of the Control Actions

基于对象的脉冲响应序列，提出一种利用矩阵QR分解设计FIR型内模逆动态控制器的新方法．为防止过大控制作用，引入了对预估控制量的二次约束，并同时对控制器静态增益约束以保证闭环控制系统对阶跃输入的无静差特性．给出的仿真例子说明了本方法的有效性．

A matrix QR decompositiom-based approach for the design of internal model controller is developed from theplant impulse response.Both the quadratic constraint on the predictive control actions and the constraint on the stationary gainsor the controller are introduced in oredr to avoid extreme control actions and to guarant ee zero-offsetness of the step response inclosed loop system.Simulations are given for a proof.