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一、引言在控制理论中,被控制对象的动态特性描述方法不外乎为参数模型和非参数模型二类方法0基于参数对象模型的控制系统设计方法在控制理论中一直处于主导地位,目前发展得也较为成热。起源于50年代初的经典控制理论,它的两大支柱——根轨迹方法和频率域方法都是基于对象的频域参数模型。但是经典控制理论仅能够处理单输入——单输出(SISO)的定常系统,设计方法也仅从稳定性角度定性地综合控制系统的品质,
I. INTRODUCTION In the control theory, the description of the dynamic characteristics of the controlled object is nothing more than the parameter model and the non-parametric model. The control system design method based on the parametric object model has always been in a dominant position in the control theory and is currently under development Got more into a hot. The classical control theory originated in the early 1950s, its two main pillars - the root locus method and the frequency domain method are based on the object’s frequency domain parameter model. However, the classical control theory can only deal with the single-input-single-output (SISO) stationary system. The design method also qualitatively and comprehensively controls the quality of the system from the perspective of stability.