说明：  为提高控制精度,针对一类带有附加干扰的线性随机系统,提出了一种基于干扰观测器的复合分层控制方法.假定位于输入通道的干扰可由一个带有摄动的外部动态方程来描述.基于最小方差准则,就系统状态可量测和系统状态不可量测两种情形来分别设计干扰观测器,并且可以依据分离原理,将观测器设计与控制器设计分解成两个独立的步骤先后进行.通过将基于干扰观测器的控制方法(DOBC)与广义最小方差控制(GMVC)方法相结合,不仅能够抵消可建模干扰,而且能够提高系统的动态性能.最后,仿真算例验证了该方法的有效性。
(In order to improve the control accuracy, a compound hierarchical control method based on disturbance observer is proposed for a class of linear stochastic systems with additional disturbances. It is assumed that the disturbance in the input channel can be described by an external dynamic equation with perturbation. Based on the minimum variance criterion, the disturbance observers are designed for both measurable and unmeasurable states, According to the separation principle, the observer design and the controller design can be divided into two independent steps. By combining the disturbance observer based control method (dobc) and the generalized minimum variance control (GMVC) method, not only can the modeling disturbance be eliminated, but also the dynamic performance of the system can be improved. Finally, the effectiveness of the method is verified by a simulation example)