基于灵敏度函数的二自由度控制系统设计与应用

针对具有参数不确定性和外部未知扰动的不确定系统,基于灵敏度函数,提出了一种二自由度控制结构.在标称情况下,这种二自由度控制结构的给定值响应和负载干扰响应是完全解耦的,可以分别通过调节2个不同的控制回路来达到各自期望的控制性能指标.该控制系统保证反馈灵敏度函数和前馈灵敏度函数的范数小于某一正数,从而可使控制系统稳定.仿真实例验证了该控制系统的可行性和优越性.

Design and Application for Two-degree-of-freedom Control Systems Based on Sensitivity Function

For uncertain systems with parameter uncertainty and unknown disturbance,a two-degree-of-freedom control structure was proposed based on sensitivity function.In the nominal case,the setpoint(response) and the load disturbance response are decoupled from each other so that both of them can be separately regulated and optimized on line.The control structure makes the norm of feedback sensitivity function and feedforward sensitivity function no more than a prescribed level and internally stabilizes the system.The results of simulation examples demonstrate the validity and superiority of the proposed control structure.