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本文对基于微分几何结构理论的零动态设计方法进行了改进,提出了一种以系统外动态(动态输出)最优为性能指标设计系统中控制器的方法,它被称之为改进的零动态方法。并根据李导数和导数的关系提出了一种实用的零动态算法。研究表明:这种算法极为简捷,且物理透明度高。
In this paper, the zero dynamic design method based on the theory of differential geometry is improved, and a method of designing the controller in the system based on the out-system dynamic (dynamic output) optimal performance index is proposed, which is called improved zero dynamic method. Based on the relationship between the derivative and the derivative, a practical zero-dynamic algorithm is proposed. Research shows that this algorithm is extremely simple and has high physical transparency.