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本文讨论了输入输出维数不等的线性多变量系统自校正控制器的设计方法。采用了对输出跟踪偏差量和控制输入量进行约束的二次型性能指标,最优控制律特使这一性能指标取最小值。将最优控制律所满足的方程和辅助系统输出的最优预报器有机地结合起来,得到适用于参数估计的方程,进而得到了自校正控制器结构。应用这一控制器所得到的闭环系统,可以跟踪时变的参考信号,并且适用于开环不稳定系统。
This article discusses the design method of a linear multivariable system self-tuning controller with different input and output dimensions. The quadratic performance index that constrains the output tracking deviation and the control input is used. The optimal control law envoy takes the minimum value of this performance index. The optimal control law of the equation and the auxiliary system output of the optimal predictor organically combine to get the equation for the parameter estimation, and then get the self-tuning controller structure. The closed-loop system obtained with this controller can track time-varying reference signals and is suitable for open-loop unstable systems.