阶跃加斜坡干扰下无静差最优状态调节器研究

Research on an Optimal State Regulator without Static Error under the Step and Ramp Disturbance

根据古典控制理论中引入积分环节消除静差的启示，提出了消除阶跃加斜坡干扰的最优调节器设计方法。并将其与消除常值扰动的最优调节器设计方法相比照，得到了消除一般扰动的最优调节器的设计思路。

According to the inspiration of classic control theory that leading integral links into system can eliminate static er-ror, the authors put forward the design of the optimal regulator which can eliminate the step and ramp disturbance. After con-trasting it with the optimal regulator that can eliminate the constant disturbance, the authors gain the train of thought of design-ing the optimal regulator that can eliminate general disturbance.