【摘要】 首先根据视盘机光学头执行机构模型，利用线性分式变换的方法得到模型参数摄动后的广义对象模型；控制器的结构为内外两环，内环采用Ｈ∞鲁棒控制理论设计控制器，抑制参数摄动和外界扰动所引起的结构振动，外环为ＰＩＤ控制器，使系统达到跟踪性能指标的要求．最后是数值仿真，结果表明，该方法具有较好的跟踪和抑制振动性能．更多还原

【Abstract】 Firstly, in term of the video optics executor model ,this paper get the generalized object model of system with parameter perturbations by the way of Linear Fractional Transformation (LFT).Then the controllers is composed of two parts: the internal loop controller and the external loop controller.Based on the robust control theory, the internal loop controller is to reduce the structure vibration caused by parameter perturbation and external disturbance.And the external controller is designed by the classical control theory, PID strategy .Last, the simulation result show the efficiency of the method.更多还原