具有强鲁棒性的时滞滤波器设计

采用了零极点配置方法来设计具有强鲁棒性的时滞滤波器，消除小阻尼不确定性系统的残留振动。通过在系统极点附近配置多个滤波器零点，建立离散传递函数得到时滞滤波器方程，设计简单。该方法在起重机载荷防摆控制中得到了很好的应用，能够有效地消除载荷的摆动，且对缆绳长度的变化具有很好的鲁棒性。

Design Mehtod of Time Delay Filter with High Robustness

A new technique for deriving high robust time delay filter using zero placement was proposed in discrete time domain to reduce residual vibration in an uncertain system. Unlike the previous derivation, this method places some zeros around the system poles and leads to construct discrete transfer function to meet the requirements on filter performance. The simulation results of crane demonstrate the effectiveness of this new method.