一、去耦合介绍
- The use of decouplers have long been a popular way of converting multivariable control problems into (what appears to be) a number of monovariable control problems.
- The popularity of decoupling seems to continue, despite the more general and easily applicable multivariable control design methods that have been developed over the last several decades.
- The basic idea behind the use of a decoupler can be illustrated in below figure:
W(s): precompensator
G(s)W(s)=Gdes(s), with Gdes(s) diagonal.
W(s) = Gdes(s) * G(s) ^ (-1)
二、去耦合举例
例1: G(s) 无时延,无右平面零点:
例2: G(s) 存在时延(最大时延为3s):
三、相关延申问题
问题解答
(1)小问:
(2)小问: