【摘要】 四轮转向控制器的传统设计没有考虑汽车参数在运行过程中的变化，这样得到的控制器往往难以维持其原有设计性能指标．采用鲁棒控制理论，提出了二自由度鲁棒控制器设计方法，鲁棒控制器的设计归结为一个线性矩阵不等式的求解．最后给出了一个计算实例更多还原

【Abstract】 The primary disadvantage of current design techniques for 4WS controller is their inability to deal with parametric perturbation caused by automobile moving,which degrades the performance of closed loop systems.In this paper we present a design procedure of two degree of freedom of robust controller for 4WS car.The robust controller can be obtained by solving a linear matrix inequality which can be solved using Matlab LMItool efficiently.Finally,a numerical example is given to illustrate effectiveness of proposed design procedure.更多还原