By virtue of this,the augmented LQR method results in a robust multivariable system which can eliminate steady state errors,keeping as good robustness as LQR.

 
  • 采用一種增廣LQR方法,將原系統狀態(tài)的導數和指令跟蹤的誤差作為增廣的狀態(tài)向量,使設計出來(lái)的多變量系統不僅具有LQR的好的魯棒性,而且在用于指令跟蹤時(shí)能消除穩態(tài)誤差。
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