当系统在本质上具有随机特性时,控制的目的通常是控制干扰对输出的影响。就目前情况看,自校正数字控制器的设计思想主要体现在三种方法上,即纯处理伺服跟踪控制、纯处理随机最优控制、兼顾伺服控制和随机控制。1986年曾有人提出一种适于原开环系统为稳定情况下的自适应最小时间控制算法;又有人提出一种自校正鲁棒控制器,引入对偏差 y_r(t)-y(t)的二次性能函数,导出有前馈、反馈控制结 When the system is inherently random in nature, the purpose of control is usually to control the effects of interference on the output. For the current situation, self-tuning digital controller design ideas mainly reflected in the three methods, namely, purely servo tracking control, purely stochastic optimal control, taking into account the servo control and random control. In 1986, a self-adaptive minimum-time control algorithm was proposed to stabilize the original open-loop system. In addition, a self-tuning robust controller was proposed to introduce the error y_r (t) -y (t) Quadratic performance function, derived with feedforward, feedback control junction