Institute of Advanced Control Technology, Dalian University of Technology, Dalian, 116024, PR China.
ISA Trans. 2019 Apr;87:34-45. doi: 10.1016/j.isatra.2018.11.002. Epub 2018 Nov 7.
In this paper, a generalized predictor based control scheme is proposed to improve system performance of set-point tracking and disturbance rejection for non-minimum phase (NMP) systems. By using a generalized predictor to estimate the system output without time delay, a model-based extended state observer (MESO) is designed to simultaneously estimate the system state and disturbance. Accordingly, an active disturbance rejection control design is developed which consists of a state feedback control and a feedforward control for the disturbance rejection. The MESO and feedback controllers are analytically derived by specifying the desired characteristic roots of MESO and closed-loop system poles, respectively. To improve the output tracking performance, a pre-filter is designed based on a desired closed-loop transfer function for the set-point tracking. A sufficient condition guaranteeing robust stability of the closed-loop system against time-varying uncertainties is established in terms of linear matrix inequalities (LMIs). Three illustrative examples from the literature are used to demonstrate the effectiveness and merit of the proposed control scheme.
本文提出了一种广义预测器控制方案，以提高非最小相位（NMP）系统的设定值跟踪和干扰抑制的系统性能。通过使用广义预测器来无延迟地估计系统输出，设计了一种基于模型的扩展状态观测器（MESO）来同时估计系统状态和干扰。相应地，开发了一种主动干扰抑制控制设计，它由用于干扰抑制的状态反馈控制和前馈控制组成。MESO 和反馈控制器分别通过指定 MESO 和闭环系统极点的期望特征根来进行分析推导。为了提高输出跟踪性能，根据设定值跟踪的期望闭环传递函数设计了一个预滤波器。基于线性矩阵不等式（LMI），建立了一个保证闭环系统对时变不确定性鲁棒稳定的充分条件。通过三个来自文献的示例来说明所提出的控制方案的有效性和优点。
