基于阶梯化脉冲响应模型的鲁棒预测控制器

基于阶梯化脉冲响应模型，进行一种简单预测控制器的再设计，提出了一种鲁棒预测控制器，证明了建模误差在一定范围内，可保证预测控制器是鲁棒稳定的，并使得闭环系统在存在建模误差和未知常值扰动情况下无静态跟踪误差．最后用仿真研究验证此算法的鲁棒性．

Robust Predictive Controller Based on Staircase Impulse Response Model

in this paper a kind of simple predictive controller is redesigned and hencea robust predictive controller is obtained. Robust stability of the resulting closed-loop system can be guaranteed when the modeling error of model-plant mismatch is under a certain boundary and zero-tracking error is also ensured in the presence of modeling error and unknown constant disturbances. Simulation study shows that the control algorithm is robust.