Hierarchical multiple model decoupling controllerfor non-minimum phase systems
一类非最小相位系统分层递阶多模型解耦控制器

To solve such problem as too many models and long computing time,a hierarchical multiple model adaptive decoupling controller is designed.It consists of fixed models with two adaptive models.The fixed models adopt a hierarchical structure:in each level,the best model is searched according to the switching index;then in next level,based on the model selected in the last level,the dynamic fixed model set is set up to cover this model accordingly.At the last stage,two adaptive models are added to eliminate the steady state error.For a non_minimum phase system,the interaction of the system is viewed as measurable disturbance and decoupled using feedforward strategy.At last the global convergence is obtained.In the simulation,compared with the conventional multiple model adaptive controller,it reduces the number of the fixed models greatly.If the same number of the fixed models is used,the system transient response and decoupling result are improved.