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在被控对象为非方阵的系统中 ,由于求解控制器时涉及到矩阵求伪逆问题 ,很大程度上增加了闭环增益成形算法的难度 .考虑到此系统的闭环传递函数阵一定是奇异的 ,将闭环传递函数阵即补灵敏度函数设为奇异阵 ,设计出鲁棒控制器 .将闭环增益成形算法应用于舵阻摇系统 .通过观察、分析并比较各仿真曲线 ,可以看到 ,航向跟踪效果和减摇效果均较理想 .说明设计的控制器具有良好的鲁棒性能和鲁棒稳定性
In the system where the controlled object is non-square matrix, the difficulty of the closed-loop gain shaping algorithm is greatly increased due to the matrix inversion pseudo-inverse when solving the controller. Considering that the closed-loop transfer function matrix of this system must be singular , The closed-loop transfer function matrix, that is, the compensation sensitivity function, is set as singular matrix, and a robust controller is designed.The closed-loop gain shaping algorithm is applied to the rudder block system.By observing, analyzing and comparing the simulation curves, we can see that the heading The tracking effect and the anti-roll effect are all satisfactory.The result shows that the designed controller has good robustness and robustness