DESIGN OF CONTROL SYSTEMS WITH TIME DELAYS FOR MIXED SENSITIVITY SPECIFICATION AND ROBUST PERFORMANCE

在反馈控制系统的设计中，当系统存在扰动和摄动时，对参考输入的小误差要求灵敏度较低。为了保证系统的鲁棒稳定性，互补灵敏度必须是最小的。灵敏度和互补灵敏度不能降低到零。为了克服这一两难问题，提出了两盘混合灵敏度问题和稳健性能，使两盘混合灵敏度问题在低频率时灵敏度较低，而在高频下互补盘灵敏度较小。本研究的目的是给出一种系统的设计方法。针对两盘混合灵敏度问题，提出了一种INNER模型控制方法。提出了一种利用带观测器和自由参数的状态反馈控制来解决时滞系统的鲁棒性能问题的方法，并在2^&t；ND&gT；ASCC上给出了一个迭代解，并提交给了SICE.FURTHERMORE，指出时滞系统的控制性能不能用两个磁盘混合灵敏度来覆盖。

IN THE DESIGN OF THE FEEDBACK CONTROL SYSTEMS,THE LOWER SENSITIVITY IS REQUIRED FOR SMALL ERROR TO THE REFERENCE INPUT IN THE PRESENCE OF DISTURBANCES AND PERTURBATIONS OF THE PLANT.FOR THE ROBUST STABILITY,THE COMPLEMENTARY SENSITIVITY HAS TO BE SMALL.THE SENSITIVITY AND THE COMPLEMENTARY ONE CAN NOT DECREASE TO ZERO SIMULTANIOUSLY.TO OVERCOME THE DILEMMA,TWO DISK MIXED SENSITIBITY PROBLEM AND ROBUST PERFORMANCE ARE PROPOSED TO MAKE THE SENSITIVITY LOWER FOR LOW FREQUANCY AND THE COMPLEMENTARY ONE SMALLER FOR HIGH FREQUENCY.THE PURPOSE OF THE RESEARCH PROJECT IS TO PRESENT AN SYSTEMATIC DESIGN METHOD.INNER MODEL CONTROL APPROACH TO 2 DISK MIXED SENSITIVITY PROBLEM WAS PROPOSED AND SUBMITTDE TO IJC,1997. A SOLUTION TO ROBUST PERFORMANCE WAS PROPOSED BY USING STATE FEEDBACK CONTROL WITH OBSERVER AND FREE PARAMETER AND PRESENTED AT 2^<ND> ASCC.AN ITERATIVE SOLUTION TO 2 DISK MIXED SENSITIVITY PROBLEM WAS PRESENTED AND SUBMITTED TO SICE.FURTHERMORE,IT WAS POINTED OUT THAT THE CONTROL PERFORMANCE OF TIME DELAY SYSTEM CAN NO BE COVERED BY 2 DISK MIXED SENSITIVITY SPECIFICATION.THREE DISK MIXED SENSITIVITY PROBLEM AND ITS SOLUTION WERE PROPOSED AND PRESENTED AT 2^<ND> ASCC AND MATHEMATICS AND COMPUTATIONS IN SIMULATION.