不确定LTI-SISO系统的降阶时滞观测器控制

Reduced-order time delay observer for LTI-SISO system with uncertainties

提出了降阶时滞观测器 ,利用时滞来观测系统的不确定性和受到的外部干扰 ,实现了不确定系统的鲁棒控制 .降阶时滞观测器控制系统中参考模型的阶数由系统的相对阶数决定 ,而与系统阶数无关 ,简化了控制器的设计 ,有利于根据性能指标的要求获得合适的参考模型 .对于相对阶低于系统阶的一般对象 ,通过引入低通滤波器也能实现降阶时滞滤波器控制 .大量的仿真结果表明 ,降阶时滞观测器能够很好地抑制系统的不确定性和受到的外部干扰 ,是一种性能优良的鲁棒控制方法 .

This paper presents the reduced-order time delay observer (TDO) to observe the uncertainties and disturbances in order to enhance the robustness and the capability to reject disturbance. The order of the reference model in the closed-loop system is determined by the relative degree of the plant but not the degree of the plant. So, the reference model is easier to be selected with the desired specifications and the controller design is simplified. As to the general plant with relative degree \%r,\% a low-pass filter is inserted to implement the reduced-order time delay observer. Many simulations show that the proposed method, with good capability to suppress the uncertainties and disturbances, is a good method of robust control.