Above, analysis for multivariable control systems with respect to nominal and robust st ability as well as nominal and robust performan has been assessed. It was assumed that the spec- ifications for robustness were given in terms of weight matrices Wu(s) and Wu2(s), and that the performance specifications similarly were given by weight matrices Wpi(s) and Wp2()

In this chapter, st ability and performance for multivariable systems with uncertainty will be considered. Consider a general multivariable system as depicted in Figure 5.1. All signals will in general be vectors, and G() and K(s) will be transfer matrices. d(s) is an output distur- bance signal and n() represents

In this chapter a number of tools for the analysis of multivariable systems will be given.In particular, this will indude poles and zeros of multivariable sy stems the generalized Nyquist Theorem for st ability analysis of multivariable sy stems, and frequency responses for multi-

Chapter 3 Nominal and Robust Performance This chapter presents approaches to formulate performance specifications for a control sy stem

In order to be able to design a robust compensator to control a given pro cess, it is necessary not only to specify a nominal mo del of the process, but also the model uncert ainty to which the control sy stem has to be robust. The compensator is required to make the output follow variations in the reference signal and to attenuate disturbances. Hence to design the com- pensator

Preamble This note has been written for a b asic course in robust and optimal control at 9th term of the ystem Construction Line, Institute of Electronic Systems, Aalborg University. Originall the note was intended for a course consisting of six modules of four hours each. Currently

第一题:画波特图 手工绘制下列系统的波特图。提示:将传递函数写成标准形式

第一题 1. 波特图可以得知系统的Bode增益KBod=,由于没有积分单元,低频段的幅频渐进线 增益为MB=0,相位为0度。 惯性环节的转折频率为ω=1,该频率处幅值幅频特性曲线的斜率为-20dB/dec;相位 在转折频率前(=0.1)、转折频率(a=1处、转折频率后的10倍频程(=10) 分别为一5度、-45度、-85度

第一题: 1.y(t)=u(t-t) 使用拉式变换的定义: Y(s)=\u(t-r) 令T=t-T, Y(s)=Se-ru()= u()dt=(s) 所以,G(s)=ex

麻省理工学院：《自动控制原理》课程教学资源（课件讲义）习题七及解答