Systematic Design of Disturbance Utilization Control Systems

控制理论中的干扰是不能人为操纵的外部信号。应该注意的是，干扰并不总是对控制目标有害的。本项目旨在开发一种新的干扰利用控制器的系统设计方法。指出用干扰消除技术设计的控制器可以看作是一个干扰利用控制器，其中友好干扰的使用是显而易见的。利用显式要求干扰消除的非标准二次型性能指标构造最优干扰消除控制器。作为一种系统的最优控制器整定方法，提出了经典回路转移恢复法的扩展形式，并通过几个设计实例验证了该方法的有效性。

Disturbances in control theory are exogenous signals that cannot be manipulated artificially. It should be noted that disturbances are not always harmful for control objective. This project aims at developing a new systematic design method for disturbance utilization controllers. It is pointed out that a controller designed by the disturbance cancellation technique can be regarded as a disturbance utilization controller where the usage of the friendly disturbance is apparent. The optimal disturbance cancellation controllers are constructed using a non-standard quadratic performance index which explicitly requires the disturbance cancellation. As a systematic tuning method of the optimal controllers, the extended version of the classical loop transfer recovery method is proposed, the effectiveness of which is confirmed by several design examples.