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分析了广义预测控制的状态空间结构 ,指出其实质是状态反馈 ;推导了存在建模误差时闭环系统传递函数与标称系统传递函数之间的关系 ,并结合小增益定理给出了频率域中闭环系统鲁棒稳定的条件 ,仿真例子验证了条件的正确性 .
The state space structure of generalized predictive control is analyzed and its essence is state feedback. The relationship between the transfer function of the closed-loop system and the transfer function of the nominal system in the presence of modeling error is deduced. Combining the small gain theorem, Robust and stable closed-loop system conditions, simulation examples verify the correctness of the conditions.