多模型自适应前馈解耦控制器

当一类非最小相位系统参数发生跳变时，针对常规自适应控制系统暂态响应差的问题，提出一种基于多模型切换的多变量直接自适应前馈解耦控制器．该控制器由多个参数已知的固定控制器和2个自适应控制器构成．多个固定参数控制器可由系统参数模型通过映射直接得到，并且和邻域一起完全覆盖控制器参数模型集．通过加权多项式矩阵的选择，消除了稳态误差，实现了解耦控制，并给出了全局收敛性分析和覆盖性证明．仿真结果表明，暂态响应和解耦效果得到了提高。

Multiple Models Adaptive Feedforward Decoupling Controller

For a non-minimum phase system, when the parameters of the system change abruptly, a multivariable direct adaptive feedforward decoupling controller using multiple models was presented to improve the transient response. The controller consists of multiple fixed controllers with two adaptive controllers. The fixed controllers are derived from the corresponding fixed system parameter models directly and used to cover the controller parameter set with their neighborhoods. By the choice of the weighting polynomial matrix, it can not only eliminate the steady state error, but also decouple the system. The global convergence and the cover property were given and several simulation examples illustrate the power of the derived multiple models adaptive decoupling controller.