基于稳定传输零点补偿器的动态输出观测器反馈控制.pdf

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基于稳定传输零点补偿器的动态输出观测器反馈控制.pdf

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28 5 Vol. 28 No. 5 2011 5 Control Theory Applications May 2011 : 1000−8152(2011)05−0703−06 , , (, 230009) : , . , . , . . , . : ; ; : TP13 : A Control with dynamic output-observer-feedback and stable transmission-zero compensator BAO Wei, KONG Hui-fang, ZHANG Chong-wei (School of Electrical Engineering and Automation, Hefei University of Technology, Hefei Anhui 230009, China) Abstract: When a controlled system does not satisfy the sufﬁcient conditions for dynamic output-observer-feedback control, we propose compensating the stable transmission-zero by connecting a cascade compensator to the controlled system. This conﬁguration ensures the realization of dynamic output-observer-feedback control, and improves the robust stability of the closed-loop system. Experiment results show that the robust stability of dynamic output-observer-feedback control with a stable transmission-zero compensator is better than that with the full-order state-observer when the parame- ters of controlled system are perturbed. Key words: stable transmission-zero compensator; dynamic output observer; robust stability 1 (Introduction) 3) (1), Kx(t)(K ) [1]. T ¯ ¯ K = Kz Ky K C. (3) , C . , , , T B = 0. . , , , . z˙ = F z +Ly +T Bu, xˆ = T −1z, , [1,2] . 1. [3]3: