Adaptive Compensation of External Disturbances for MIMO Systems with Output Control

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Abstract

Рассматривается задача адаптивной компенсации внешних заранее неизвестных детерминированных возмущений при управлении по выходу (т.е. по вектору выходных переменных) многоканальным линейным объектом. Предлагаемое новое решение основано на адаптивной реализации метода внутренней модели и построении специального наблюдателя, позволяющего получить регрессионную модель многомерного возмущения и синтезировать адаптивный регулятор с числом настраиваемых параметров, равным числу неизвестных коэффициентов характеристического полинома модели возмущения. При определенных условиях динамический порядок такого наблюдателя оказывается существенно ниже, чем у известных решений.

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