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研究了一类具有状态时滞的多采样率离散时间控制系统,对这类系统给出了一种最优预见控制器的设计方法.首先利用离散时间系统提升技术,把所研究的系统转化成单一采样的扩大系统;然后利用构造扩大误差系统的方法引入积分器;再对扩大误差系统应用通常的线性二次型最优预见伺服系统设计方法设计控制器,从而得到原系统的最优预见控制器.同时还对扩大误差系统的能控性和能观测性进行了讨论,并通过数值仿真说明了控制器的有效性.
A class of discrete time control system with state delay and multi-sampling rate is studied, and a design method of optimal predictive controller for such system is given.Firstly, using the discrete-time system upgrade technique, the system under study is transformed into Then the system is introduced into the integrator by means of constructing an expanding error system; then, the controller is designed by using the usual linear quadratic optimal predictive servo system design method for expanding the error system, so as to obtain the optimal predictive control of the original system At the same time, the controllability and observability of the extended error system are discussed, and the effectiveness of the controller is illustrated by numerical simulation.