| FIR型逆动态内模控制器的设计算法与特性分析 |
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| 引用本文： | 华建兴,席裕庚. FIR型逆动态内模控制器的设计算法与特性分析[J]. 东华大学学报(自然科学版), 1999, 0(3) |
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| 作者姓名： | 华建兴 席裕庚 |
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| 作者单位： | 中国纺织大学纺织学院 上海200051(华建兴)，上海交通大学自动化所 上海200030(席裕庚) |
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| 摘 要： | 利用受控对象的脉冲响应直接设计一FIR型内模控制器逼近其逆动态,建立了求解控制器系数矢量的矩阵方程并给出了相应的求解算法.分析表明,给出的内模控制器设计算法是绝对收敛的且控制器系数是有界的,从而保证了内模控制系统的闭环稳定性.
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| 关 键 词： | 内模控制 FIR型控制器 逆动态 收敛性 |
On the FIR - typed Inverse Dynamics Internal Model Controller :Design Algorithm and Properties Analysis |
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| Hua Jianxing. On the FIR - typed Inverse Dynamics Internal Model Controller :Design Algorithm and Properties Analysis[J]. Journal of Donghua University, 1999, 0(3) |
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| Authors: | Hua Jianxing |
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| Abstract: | A FIR - typed internal model controller is designed directly to approximate the inverse dynamics defined by the plant impulse response. The matrix equation for solving the controller coefficients is derived and its corresponding algorithm is also given. Theoretical analysis shows that this algorithm is always convergent and the controller coefficients are limited, therefore, the stability for IMC system is guaranteed. |
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| Keywords: | internal model control FIR- typed controller inverse dynamics convergence |
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