用镜像映射方法求纯不稳定过程的鲁棒控制器

对于极点全部位于开右半平面的纯不稳定过程,通过配置左半平面的零极点,使系统变成一般不稳定系统,然后通过镜像映射将成形后的不稳定过程转换成最小相位系统,最后用闭环增益成形算法直接根据鲁棒性能指标的奇异值曲线形状用闭环系统具有工程意义的参数构造出鲁棒控制器,故该控制器对成形后的不稳定过程同样具有鲁棒性。仿真结果表明系统的鲁棒性能良好。

Solving robust controller of pure unstable process using mirror-injection method

A pure unstable process whose poles lie in open right-half plane is loop-shaped by adding left-half plane poles and zeros so that the system is converted into a regular unstable system. The loop-shaped unstable process is transformed into a minimum-phase system through mirror-injection, then a robust controller is directly constructed using closed-loop gain shaping algorithm, which is realized according to the shape of the singular value curves of the robust performance index based on the parameters with engineering sense. Therefore, the designed controller is equally robust to the unstable process. The simulation results show good robustness of the system.