特征结构配置法在输出反馈控制器设计中的应用

现代控制理论中的特征结构配置法(Eigenstructure Assignment),揭示了线性定常系统状态反馈控制规律的设计能力,并向设计者提供了充分的设计自由度。本文介绍了一种利用特征结构配置法进行输出反馈控制器设计的算法。当n阶r个输入m个输出的线性定常系统满足关系r+m>n时,运用该算法可以获得配置任意希望闭环特征值集合的线性输出反馈控制规律,并具有一定的特征结构配置自由度;对于不满足r+m>n的系统,利用积分器增广可以获得比Luenbetger状态估计器阶数低的动态输出反馈控制器,以实现闭环特征值任意配置。该算法容易用数字计算机编程实现。

Eigenstructure Assignment and Its Application in the Design of Output Feedback Controller

The method of eigenstructure assignment in modern control theory has revealed the ability of state feedback in linear time-invariable systems, and provided designer with much design freedom. In this paper, an algorithm which deals with the design of output feedback controller using the method of eigenstructure assignment has been introduced.If a system with n states,r inputs and m outputs satisfies the condition r+m>n, a gain output feedback law can be obtained which assigns n desirable closed-loop system eigenvalues.In the case that system does not satisfy the above condition, an augmented method is given to design an output feedback controller with an order lower than that of Luenberger state estimater to assign n desirable closed-loop system eigenvalues. This algorithm facilitates the numerical process and a FORTRAN program is available.