Method for designing U-model anti-interference controller of continuous system based on standard form
A technology of continuous system and design method, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., to achieve good robustness, reduce complexity and calculation amount, and avoid phase lag effects
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[0057] Further describe the present invention below in conjunction with accompanying drawing.
[0058] like figure 1 As shown, the standard type continuous system U-model controller design method based on the integrator series of the present invention comprises the following steps:
[0059] S1: Design a second-order ESO, estimate the total disturbance of the control system, use the control law to compensate the total disturbance in real time, and transform the controlled object into a standard type of integrator series. When the internal and external nonlinear and uncertain factors of the control system are estimated by the second-order ESO and compensated by the control law applied to the controlled object, any nonlinear controlled object can be transformed into a linear integrator series object, Lay a solid foundation for subsequent controller design.
[0060] The equivalent system structure corresponding to the second-order ESO is as follows figure 2 As shown, in the fi...
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