| 1. | High performance servo system design based on a disturbance observer
基于扰动观测器的伺服控制器设计。 |
| 2. | The principle of designing disturbance observer is described and its stability is analyzed
对于扰动观测器设计，叙述了设计原理并对其稳定性作了分析。 |
| 3. | The simulation results show that the controller is of better performance compared with the control strategy based on disturbance observer
作者对该方法进行了理论分析并与基于扰动观测器的控制器进行对比仿真。 |
| 4. | Then a discussion is devoted to the design of a robust flight control system which is used to overcome the di sadvantage of the neural network based on disturbance observer
同时为了克服神经网络的硬件实现困难以及其自适应算法的复杂性，提出并设计了基于干扰观测器的鲁棒飞行控制系统。 |
| 5. | By using successive approximation approach , the feedforward and feedback optimal control law is presented , and a disturbance observer is designed to make the optimal controller physically realizable
采用逐次逼近算法给出了系统前馈反馈最优控制律的设计方法，利用扰动观测器解决了最优控制律的物理可实现问题。 |
| 6. | As a result , a high robust controller was easily accomplished , consisting inner - loop , the current loop , outer - loop , the position loop , pre - filter controller , feedforward controller , repetitive controller , and disturbance observer
该控制器由内环的电流控制器和外环的位置控制器、前置滤波器、前馈控制器、重复控制器和扰动观测器组成。 |
| 7. | 9 . a fuzzy reasoning controller is designed to improve the performance of the mentioned disturbance observer . as the motor speed and load torque varying , the parameter of the disturbance observer can be changed by the fuzzy controller based on experiences . the pulsating torque can be compensated more strictly in a extended range
9 、对基于干扰观测器的转矩脉动控制系统进行了改进，设计了一种模糊推理控制器，根据电机速度和负载转矩的变化调整干扰观测器的增益，保证了转矩脉动控制系统的控制精度，并扩大了其运行范围。 |
| 8. | For the feedback controller design , under the condition of that the noise and disturbance had been eliminated through disturbance observer , an anti - windup state feedback controller is proposed to solve the problem in which most of the existing anti - windup schemes can not guarantee the asymptotic closed - loop stability even for open - loop stable systems subjected to actuator saturation
对于反馈控制器设计，考虑了系统的物理约束即驱动饱和的影响，在系统的量测噪声和外部扰动已经通过扰动观测器减弱的条件下，提出了一种抗漂移的状态反馈控制器设计方法。仿真结果表明所提方法的有效性。 |
| 9. | The precise mathematic model is not brought forward in this thesis . because of disturbance uncertainty , a disturbance observer is used to estimate the equivalent disturbance of whole control system , and then the estimation of disturbance is compensated to system to counteract the disturbance of system
由于干扰的不确定性，论文在抗干扰设计时并没有建立干扰的准确数学模型，而是利用干扰观测器来预测整个系统的等效干扰，然后将干扰量重新补偿到系统中去，以达到消除干扰的目的。 |
| 10. | The uncertainty of the system can be regard as the disturbance and it can be approximated by wavelet neural network disturbance observer . then a robust adaptive h control method and a model predictive control method based on disturbance observer are proposed for a class of mimo nonlinear uncertain systems , at the same time these methods are used to design the robust adaptive flight control system . the designed robust flight control system can not only guarantee stability robust of flight , but also guarantee the flight control system have some robust performance indexes
为了克服这些缺点，将飞行控制系统的不确定性看作系统所受的干扰，应用小波神经网络干扰观测器进行逼近，并基于干扰观测器的输出提出了一类多输入多输出不确定非线性系统的鲁棒自适应h _控制方法并应用于鲁棒自适应h _飞行控制系统设计以提高飞行控制系统的性能鲁棒；为了进一步提高系统的性能鲁棒，针对一类多输入多输出不确定非线性系统基于小波神经网络干扰观测器设计一种模型预测控制律并应用于鲁棒自适应h _飞行控制系统设计。 |
