The application provides a negative
virtualization method for a high
resonance mode flexible
system, first, a flexible
system model is established, a dynamic feedforward compensator is introduced, and a
system state space equation after feedforward compensation is given; second, a set of positive definite matrices is selected for the compensated system, and a set of matrix inequality conditions are derived, so that the compensated system has a negative
virtual property, and further solving the matrix inequality conditions can obtain the parameters of the feedforward compensator; finally, an improved negative virtual controller is designed for the system after negative
virtualization to ensure the stability of the closed-loop system. The method of the application ensures that the high
resonance mode flexible system with non-negative
virtual property can use the negative virtual theory to design the controller, and expands the application range of the negative virtual theory in the flexible system. Through the
satellite model simulation experiment, it is shown that under the condition of parameter perturbation or unmodeled dynamics, the designed system can simultaneously consider the
response characteristics and robustness.