自学习补偿及其在恒速控制中的应用

学习控制可以有效地抑制周期性干扰，但是对初始条件的一致性有要求，这一条件在连续回转运动中难以满足，故本文提出一种学习补偿方案，即在非连续运动时积累干扰的信息，然后在连续运行时用该信息对干扰进行补偿。本文证明了学习控制作用对干扰的收敛性，并给出了仿真结果

SELF STUDY COMPENSATION AND ITS APPLICATION TO THE CONTROL OF STEADY SPEED

Study control can restrain periodic disturbance effectively,but it puts forwardcommands on initial conditions,which is hard to neet in continuous circlingmovement Thus,this paper proposed a scheme of study compensation,that is to accumulate information of disturbance in non continuous movement and use these information to compensatefordisturbance This paper proves the restrainess of study control effects on disturbances,and introduced a simulation example