逆系统方法及其应用

本文提出了一种设计非线性反馈控制系统的方法，称作过系统方法．这种方法的要点，就是用对象的逆系统构造出一种可用反馈结构实现的“α──阶积分逆系统”，将原对象补偿为具有线性传递关系的系统，即α阶伪线性系统，然后用线性系统的理论来解决这种系统的综合问题。同时，本文还将逆系统方法用于机械手控制系统的设计，从所给出的仿真来看，结果是令人满意的。

The inverse System method and its Application

A new method, called inverse system method, is Proposed for the synthesis of a class of multivariable analytic nonlinear control systems. This method consists of two parts: constructing at first an" a integral inverse system" which can be realized by state feedback from the inverse of the original system, so that a "pseudo-linear system" is formed through precompensation of the a integral inverse system and a linear relation exists between its input and its output; then, designing the controller of the pseudo-linear system by the well known linear system theories, e.g., decoupling, pole assignment, linear quadratic optimal and robust regulator, etc. The inverse system method was used in the design of the dynamic control system of robot manipulater. Some digital simulation results given in the paper prove that the inverse system method is effective.