抗漂移的状态反馈控制器设计及在数控系统中的应用

针对大部分抗漂移设计不能保证存在驱动饱和的开环稳定系统的闭环渐近稳定性的问题，在系统的量测噪声和外部扰动已经通过其他办法消除的条件下，设计了一种抗漂移的状态反馈控制器。该控制器将参考轨迹也加入到控制器设计中，极大地简化了控制器的参数设计并扩大了输入信号的范围。基于Lyapunov稳定性理论，证明了全系统的渐近稳定性及对参考输入的渐近跟踪性。将之用于数控系统控制器的设计中，仿真结果表明：无论饱和发生与否，该控制器不但可以保证系统的闭环稳定性，而且可以抑制 由于驱动饱和的存在而导致的跟踪性能的恶化，使得系统能够准确地跟踪参考输入。

Design and Application of an AntiWindup State Feedback Controller

Under the condition of that the noise and disturbance had been eliminated, an antiwindup state feedback controller is deigned to solve the problem that most of the existing antiwindup schemes can not guarantee the asymptotic closed loop stability, even for the open loop stable systems subjected to actuator saturation. The reference input is incorporated into the controller design. The parameter design is simplified and the range of the reference input is enlarged. The asymptotic stability and tracking property of overall system are established based on the Lyapunov stability theory. The simulation results show that the control strategy can not only guarantee the asymptotic closed loop stability but also reduce the degradation in performance resulting from actuator saturation.