周期控制的MIMO系统任意增益/相角裕度调节方法

针对一类有限维多输入多输出线性时不变系统，提出了一种调节输出通道增益/相角裕度的方法。采用连续线性二次型调节器理论和周期控制方法设计一个可被计算机直接执行的线性周期控制器。理论证明该控制器可同时在系统所有反馈控制回路的输出通道实现任意大的增益裕度和直到90°的相角裕度，且系统输出采样间隔性能良好。仿真结果表明了所设计控制器的有效性。

Tuning method of MIMO system’s arbitrary large gain/phase margins based on periodic control

For the finite-dimensional multiple input multiple output (MIMO) linear time-invariant system, a new method to tune gain/phase margins in the output channels is presented. By using the theory of continuous-time linear quadratic regulator (LQR) and the method of periodic control, a linear periodic controller which is easy to implement is designed. It is proved that the controller can simultaneously provide gain margins as large as desired and phase margins of up to 90° in the output channels of all feedback control loops and has a satisfactory inter-sample performance. Simulation results show the effectiveness of the proposed control law.