MIMO controller synthesis with integral-action integrity
MIMO controller synthesis with integral-action integrity
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具有积分作用完整性的 MIMO 控制器综合
DOI：
10.1016/j.automatica.2007.04.012
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
A. N. Mete
中科院分区：
文献类型：
--
作者：
A. N. Gündes;A. N. Mete
提出了一种使阶跃输入参考系统具有零稳态误差的闭环稳定性和渐近跟踪的控制器综合方法。积分作用是在两个设计步骤中实现的，首先是任何稳定控制器，然后在确保鲁棒稳定性和跟踪的配置中添加一个PID控制器。所提出的设计具有积分作用的完整性，即使当比例项、积分项或导数项被移除，或者整个PID控制器被恒定增益矩阵限制时，闭环系统的稳定性也保持不变。当不需要积分作用时，可以关闭积分常量。
A controller synthesis method is presented for closed-loop stability and asymptotic tracking of step input references with zero steady-state error. Integral-action is achieved in two design steps starting with any stabilizing controller and adding a PID-controller in a configuration that guarantees robust stability and tracking. The proposed design has integral-action integrity, where closed-loop stability is maintained even when any of the proportional, integral, or derivative terms are removed or the entire PID-controller is limited by a constant gain matrix. The integral constant can be switched off when integral-action is not wanted.