分流模型PID与鲁棒补偿的复合控制策略

提出了一种基于分流模型PID与鲁棒补偿的复合控制策略，这种控制器具有非线性滤波、增益自调整、鲁棒性好等优良特性。由于分流模型的输出是稳定、光滑且有界，可以构造一类具有输出光滑、有界并且增益自调整的PID控制器，其可设计一类安全控制系统．将分流模型PID与鲁棒补偿控制相结合，有效地解决了参数不确定情况下的一类非线性系统的鲁棒控制问题。通过倒立摆控制系统的仿真研究，验证了控制策略的有效性。

Composite Control Strategy Based on Shunting Model PID and Robust Compensative Controller

A novel composite control strategy based on a shunting model PID and a compensative controller was developed for a class of nonlinear systems. The proposed controller has some excellent characteristics, such as nonlinear filtering, gain auto-regulation and robustness, Because the output of shunting model is stable, bounded and smooth, it is used to construct the PID controller with bounded and smoothed output and gain auto-regulation, This kind of controller can be employed in designing a class of safe control systems, The shunting model based PID controller is integrated with a robust compensative controller so that it could effectively solve the robust control problem for a class of nonlinear systems with parametric uncertainty, By the simulation study of an inverted pendulum control, the effectiveness of the proposed control strategy is demonstrated.