本文从线性模型跟踪控制和Davison的鲁棒伺服控制的基本概念出发,提出了一种具有鲁棒结构的多变量模型参考协调控制系统。当某些子过程的模型与参考模型相互不匹配,或子系统的参数产生摄动时,本文提出的协调控制系统仍具有满意的动态特性和渐近协调性,表现了极强的鲁棒性。对于某类干扰作用,系统具有很强的抗扰能力。 Starting from the basic concepts of linear model tracking control and Davison’s robust servo control, this paper proposes a multivariable model reference coordinated control system with robust structure. When the model of some sub-processes does not match with the reference model or the parameters of the sub-system are perturbed, the coordinated control system proposed in this paper still has satisfactory dynamic characteristics and asymptotic coordination, showing strong robustness . For some interference, the system has strong anti-interference ability.