纯滞后对象的直接补偿外模控制器

提出了一种适用于纯滞后对象的外模控制器，将外部模型输出与系统实际输出之差经滤波后直接补偿控制信号。标称系统的动态性能由外部模型和补偿器来保证；系统的鲁棒性能和抗干扰能力则由滤波器来保证，二者可以解析设计，仿真结果表明，这种外模控制器具有良好的动态性能和抗干扰能力，鲁棒性能优于Ｓｍｉｔｈ预估控制，而且设计简单、方便。

Directly Compensating External Model Controller for Process with Time Delay

This paper presents an External Model Controller(EMC) for process with time delay.The output error,between the external model and the actual system,is used to compensate the control signal directly through a filter.The dynamic characteristics,which is forced by the external model and the compensator,and the disturbance rejection,which is assured by the filter,are designed seperately.The simulation results show that the EMC has good dynamic performance and disturbance rejection,in addition,the robustness is better than the Smith predictor.