【摘要】 本文给出了基于积分反步法的控制器设计方法 ,该方法通过逐步修正算法设计镇定控制器 ,实现系统的全局调节或跟踪。每一步把状态坐标变换、一个给定的李雅普诺夫函数和虚拟控制联系起来 ,最终得到一个控制李雅普诺夫函数 (clf)。基于上述方法 ,对直流电机驱动的轧机速度系统进行了反馈控制器设计。仿真研究结果表明 ,本文所设计的反馈控制器使闭环系统稳定 ,系统具有良好的跟踪性能。更多还原

【Abstract】 The method of designing controller based on integrator back-stepping is presented. Through correcting algorithm gradually, a stabilizing controller is designed and global regulation or tracking is achieved. In each step, the transformation of state coordinate, an known Lyapunov function and virtual control are connected and a control Lyapunov function is derived finally. Then a feedback controller is developed based on above-mentioned method for speed system of rolling mill diven by DC motor. The simulation results show that the designed feedback controller make the closed-loop system stable and has better tracking performance.更多还原