Robust control method for integrating and unstable plants with time delay
具有时滞的积分和不稳定对象的鲁棒控制

A novel two-degree-of-freedom control structure is proposed for integrating and unstable plants with time delay.Firstly,a proportional controller was subtly employed to stabilize the set-point response.Then the set-point tracking controller was designed in terms of the robust H\-2 optimal performance specification.According to the practical operation requirement for disturbance rejection,a load disturbance rejection closed-loop was configured between the plant input and output,in which the disturbance observer was commissioned for rejecting load disturbances.The disturbance observer was derived by proposing the desired closed-loop complementary sensitivity function.Meanwhile the sufficient and necessary conditions were provided for holding the closed-loop robust stability.Finally,simulation examples were included to demonstrate the superiority of the proposed method over recent other approaches.