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考虑二阶线性系统的高阶比例积分(PI)观测器设计问题,提出了一种参数化方法。该方法给出了该类观测器的增益矩阵和左特征向量矩阵的参数化表达式。这些参数为控制系统设计提供了全部自由度,可通过优化等手段适当选择这些参数来满足某些性能要求,如干扰解耦、LTR和鲁棒性等。该观测器设计的参数化直接基于二阶线性系统的参数矩阵,不涉及二阶线性系统的变换或增广,表明了所提方法的简单有效性。
Considering the design problem of high-order proportional integral (PI) observer of second-order linear system, a parametric method is proposed. The method gives the parametric expression of the gain matrix and the left eigenvector matrix of this kind of observer. These parameters provide all degrees of freedom for the design of the control system. These parameters can be suitably selected by means of optimization to meet certain performance requirements such as interference decoupling, LTR and robustness. The parameterization of the observer design is directly based on the parameter matrix of the second-order linear system, which does not involve the transformation or augmentation of the second-order linear system. It shows that the proposed method is simple and effective.