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由于帆船具有非常严重的非线性和非最小相位特性 ,因而帆船用自动舵设计起来很困难。在处理这类问题上 ,H∞ 控制器是一个强有力的工具。但在这个方法中 ,由于指标的相互矛盾 ,选定灵敏度函数和补灵敏度函数是实际应用的难点 ,而前馈控制可以有效地解决这个问题。为此 ,在前馈控制设计中引入了镜像映射的方法来消除非最小相位的影响
Because of the very serious non-linear and non-minimum phase characteristics of sailboats, the autopilot for sailing vessels is difficult to design. The H∞ controller is a powerful tool in dealing with such problems. However, in this method, due to the conflicting indicators, the selected sensitivity function and the compensation sensitivity function are the practical difficulties, and feedforward control can effectively solve this problem. For this reason, a mirror image mapping method is introduced in the feedforward control design to eliminate the effect of non-minimum phase