基于Volterra级数模型的内模控制方法

针对一大类具有一定不确定性的非线性系统，提出基于Volterra级数模型的鲁棒内模控制器设计方法。利用局部形式的小增益定理，得到在辨识模型和实际对象模型失配的情况下，闭环系统鲁棒稳定的充分条件。对于设定点调节问题，得出闭环系统获得零稳态误差跟踪性能的充分条件。通过对一个连续搅拌反应池（CSTR）过程控制问题的仿真研究表明，应用该方法可以取得良好的控制效果。

Internal Model Control for Uncertain Volterra Series System

An internal model control strategy based on Volterra series model was proposed for a general class of uncertain nonlinear systems.Based on a local form of small gain theorem,the sufficient conditions ,which guarantee the robust stability of the closed-loop system when the identified model was mismatched with the real model of the controlled system,and guarantee the zero-error tracking for set-point regulation,were presented.The simulation results of a continuously stirred tank reactor (CSTR) show that the proposed controller design strategy is effective.