【摘要】 四水箱系统是具有强耦合特征的非线性多输入多输出系统。消除或减弱变量间强耦合是提高四水箱系统控制性能的有效途径。基于双闭环结构，首先将水箱内部产生的耦合作用作为内部干扰纳入总扰动中，引入扩张状态观测器对其进行估计，设计线性状态误差反馈控制律对跟踪误差进行补偿，形成自解耦控制(SDC)。仿真结果证明，该方法的跟踪性能、抗干扰性能、解耦性能均达到了令人满意的效果。更多还原

【Abstract】 The four-tank system is a nonlinear multiple-input multiple-output system with strong coupling characteristics.Eliminating or weakening the strong coupling between variables is an effective way to improve the control performance of the four-tank system.Based on the double closed-loop structure, the coupling effect generated inside the water tank was first included in the total disturbance as internal interference, an extended state observer was introduced to estimate it, and the linear state error feedback control law was designed to compensate for the tracking error to form self-decoupling control(SDC).The simulation results showed that the tracking performance, anti-interference performance and decoupling of the proposed method have achieved satisfactory results.更多还原