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本文在应用古典法进行求解单变量控制系统误差系数的基础上,提出了用状态空间法来求解多变量控制系统误差系数矩阵的一种新的计算方法。这种方法的物理意义不但非常明确,而且表示直观,计算方便。对于误差系数矩阵中的位置误差系数C_0、速度误差系数C_1、加速度误差系数C_2均可由控制系统的状态方程式中的系数矩阵A、B、C、D来求出。本方法为描述多变量(单变量)控制系统的性能指标提供了新的途径。
Based on the classical method of solving the error coefficient of the univariate control system, this paper presents a new method of calculating the error coefficient matrix of the multivariable control system by using the state space method. The physical meaning of this method is not only very clear, but also intuitive and easy to calculate. For the error coefficient matrix, the position error coefficient C_0, the velocity error coefficient C_1, the acceleration error coefficient C_2 can be obtained from the coefficient matrix A, B, C, D in the state equation of the control system. The method provides a new way to describe the performance of multivariable (univariate) control system.