含積分式控制器之設計

Abstract

An optimal or a sub-optimal control law with integral mode is developed by the introduction of a multiplier into the Kalman control law and the proper modification, while not changing the original quadratic performance index. The resulting control yields an output transient response which is reasonable and satisfactory for both undisturbed and disturbed cases. The result is also compared with that obtained by the classical Cohen-Coon method and a smaller value of the performance index is obtained.