带观测器的鲁棒控制系统设计方法

本文分析了观测器对系统鲁棒性的严重影响;分离性原理被破坏,观测误差不可避免.给出了带观测器系统的鲁棒控制设计方法.首先,给出了一种反映鲁棒性的目标函数,然后在解Sylvester 矩阵方程AX-XA=-BU 的基础上,确定了所有使组合系统名义工作点的极点为指定值的反馈阵和观测器参数,在这些F 及观测参数中对目标函数优化,既使系统满足给定的动态性能指标,又提高了鲁棒性.

A Method for Designing Robustness of Control Systems with Observers

The bad effects of observers on the robustness of systems are analyzedin this paper.If the parameter of a plant is perturbed,the composite systemwith an observer will lose will lose its property of separation and there will beobserver error at an infinite time.This paper presents a method for designing the robustness of control systems.At first,a kind of performance index is chosen to reflect the robustness of asystem.Then all the feedback matrices Fs and observer parameters Ls whichsatisfy the nominal-working-point pole requirement are determined.This app-roach is based on the solution of the sylvester matrix equation:AX-XA=-BU.At last,the performance index is optimized within these Fs and Ls.Suchdesigning method enables a system to satisfy certain dynamic qualities as wellas reduce the sensivity of the system.