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摘要: 对零动态解开法用于输出反馈控制进行了详细分析,零动态解开法是一种回路变换法, 通过变换将一个对不稳定对象进行镇定的控制器变换成对非最小相位系统的控制器.变换中虽 然系统的特征方程式不变,但由于回路的结构已经改变,二者的鲁棒性并不等价.文中以一典型 的非最小相位系统为例,详细分析了这种设计方法的鲁棒性.Abstract: The method of unlocking zero dynamics in output feedback control is analyzed. It is pointed out that this method is based on the transformation of system configurations. By using a series of transformations a stabilizing controller for an unstable plant can be rearranged to become a controller for a non-minimum-phase plant. Although the stability of various configurations remains unchanged, the robustness of the system is not the same, Detailed analysis of a typical non-minimum-phase example is given.
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Key words:
- Unstable zero-dynamics /
- non-minimum-phase /
- robust stability /
- output feedback
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