多变量不确定系统近似解耦鲁棒控制器设计

基于奇异值性能指标，对多变量系统的输入，输出间耦合及系统的不确定性提出了近似解耦鲁棒控制器的设计方法，该方法采用近似解耦，利用灵敏度函数矩阵和余灵敏度函数矩阵的奇异值。在整个频率范围内同时考虑稳定鲁棒性和解耦鲁棒性，给出了同时满足稳定鲁棒性和品质鲁棒性的目标函数，最后对一个实例进行了系统仿真研究、证实了此方法的有效性。

The Design of Nearly Decoupled Robust Controller for Multivariable System with Uncertainty

Based on the singular value performances,a way is presented for the design of nearly decoupled robust controller for the couple of inputs and outputs of multivariable system with uncertainty, It adopts nearly decouple, uses the singular values of the sensitivity and remainder sensitivity function matrixes,, takes into consideration of stability robustness and decoupled robustness simultaneously in the whole frequency domain, and gives the target function satisfying stability robustness and quality robustness, Finally, the simulation for an example is done, the result shows that this way is valid,