基于干扰观测器的不确定线性多变量系统控制

摘要

A disturbance observer (DOB) based control method with guaranteed internal robust stability is proposed for linear multi-variable plants with uncertainties. Both exter-nal disturbances and model errors are compensated to achieve a robust control performance with simple structure and little cost. Sufficient conditions for internal stability are presented by introducing an equivalent system in terms of closed-loop stabil-ity, and thereby guide the design of outer-loop controller and Q-filter in the inner-loop. Simulations of a numerical example demonstrate the efficacy of the proposed method.%针对不确定线性多变量系统,提出一种基于干扰观测器(Dis-turbance observer, DOB)的保证系统内部稳定性的控制策略。以简单的结构和少量的计算代价实现鲁棒的控制效果,补偿外界干扰以及内部模型误差。通过引入一个闭环稳定性等价系统,辅助分析基于干扰观测器的多变量控制系统的内部稳定性,探讨在存在外部扰动及内部模型不确定性的情况下系统保证内部稳定的充分条件,指导外环控制器及内环干扰观测器中Q 滤波器的设计。通过数值模型上的仿真验证了提出的控制方法的有效性。