具有强相容参数估计的多变量自校正前馈控制器
A Multivariable Self-Tuning Feedforward Controller with Consistent Parameter Estimates
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摘要: 本文提出了一种新的自校正前馈控制器.该控制器具有如下优点:1)可以控制具有任意 传输延时结构的随机多变量系统;2)可以控制开环不稳定或非最小相位系统;3)不加积分作用 可以自适应消除偏差和可测干扰对输出的影响,消除跟踪误差;4)具有全局稳定特性;5)参数 估计具有强相容性.Abstract: In this paper, a novel self-tuning controller is presented. The controller has the following advantages: 1) It can control stochastic multivariable systems with arbitrary time delay structure; 2) It can deal with unstable and/or non-minimum phase processes; 3) It eliminates measurable disturbances, load offsets and tracking errors without having integral action in adptive control case; 4) It has global convergence properties; and 5) Parameter estimates are strongly consistent.
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