极点配置自校正控制器具有鲁棒性及良好的跟随性,但是有稳态误差。在 P,Q,R 固定的情况下,如果 Q(Z~(-1))中有(1-Z~(-1))因子可消除稳态误差。本文论证了这个概念同样适用于在线调整 P,Q 的情况,由此得到的算法,使极点配置自校正控制器既保留了其原有的优点,又避免了稳态误差。 The pole configuration self-tuning controller has robustness and good follow-up, but has steady-state error. If P, Q, R are fixed, the steady-state error can be eliminated if there is a factor of (1-Z -1) in Q (Z -1). This paper proves that the concept is also applicable to online adjustment of P and Q. The algorithm thus obtained enables the pole configuration self-tuning controller not only to retain its original advantages but also to avoid steady-state errors.