Robust control design of linear systems based on model reference and internal model principle
基于模型参考和内模原理的线性系统鲁棒控制设计

The uncertainties usually deteriorate the performance of the systems.It includes the uncertain parameters and the outside disturbances and so on.With model reference and internal model principle,a structure of robust control systems is built for this kind of linear uncertain systems,and its controllability condition is then analyzed.Its controllability condition can be satisfied by choice of reference model and internal model.On this condition,the robust control design can be converted into the linear quadratic regulator(LQR)problem,and the optimal control theory can also be utilized to compute its feedback control law.The simulation shows that model reference and internal model principle can be integrated into this approach,which can improve the robust stability of the systems,reduce disturbance efficiently and ameliorate its performance.