一种简化的H∞控制混合灵敏度算法

摘要

Inspired by the loop shaping theory, a kind of simplified H∞ mixed sensitivity algorithm is presented. This is based on the observation on the characteristics of the singular value curves of H∞ S/T mixed sensitivity function as well as on the correlativity between S and T. The core of the algorithm is to shape T that is the transfer function of the closed-loop system according to the knowledge a priori, then the controller K is designed directly without selecting any weighting functions. It is obvious that if the shape of T is fixed, the shape of S is also fixed because of the correlativity of S and T. Therefore it guarantees fundamentally that the designed control system will have fine control performance and robustness.%受到回路成形思想的启发，通过对H∞控制的S/T混合灵敏度奇异值曲线的观察及基于S和T具有相关性的考虑给出一种简化的H∞控制混合灵敏度算法.该算法避免了权函数的选择而对系统进行闭环增益成形，其核心是确定闭环系统传递函数即T的最终希望的形状，不加任何权函数，直接设计出K.由于T和S的相关性，T的形状确定，S的形状也就确定了，从而保证了设计出的控制系统具有良好的鲁棒性和鲁棒稳定性.