Development of a Design Method of Robust Control Systems in Time Response Domain

针对PD和I-PD控制系统，提出了一种鲁棒控制系统的设计方法。文中定义了在被控对象特性变化一定范围内，使阶跃响应曲线的形状保持在一定劣化范围内的鲁棒性。该方法是作者提出的部分模型匹配法的推广。对参考模型进行了扩展，使模型的系数有一定的范围，在此范围内允许阶跃响应曲线恶化。一旦得到这样的模型，设计过程就简单明了，并且得到了非常简单和透明的I-PD控制算法。对于PID控制，计算不那么透明，但也不那么复杂。该方法为我们提供了一个在阶跃响应形状允许劣化范围内响应最快的控制系统。通过实例设计，验证了该方法的有效性。

A design method of robust control systems was developed for PD and I-PD control systems. In the- work, the robustness was defined to keep the shape of the step response curve within a certain range of deterioration under a given range of changes in the controlled object characteristics. The method is an extension of so called partial model matching method which has been developed by the present author. The reference model was extended in such a way as the coefficients of the model have some range, inside of which deterioration of the step response curves stays allowable. Once such a model was obtained the design process was straight forward and very simple and transparent algorithm was obtained for the I-PD control. For PID control, computation is less transparent but not so complicated. The method brings us a control system of quickest response within the allowable deterioration of step response shape. The effectiveness of the method was shown by some sample designs.