基于广义最小方差基准的系统控制器设计

由控制系统性能评估中一种重要的评估方法——广义最小方差（GMV）引出基于GMV基准的系统控制器设计理论。该方法综合了系统误差信号与控制信号，既考虑了系统回路输出与参考信号的吻合程度，又考虑了控制作用的平稳性。误差权与控制权的合理设置是降低系统跟踪误差和确保系统稳定性的关键，文中详细阐述了两权的设置方法。通过仿真实例，依次有效验证了该方法在单回路系统、传统串级系统和并行串级系统中的运用，并与传统的PID控制律作了对比分析，验证了本文方法的优越性。

Design of System Controller Based on Generalized Minimum Variance Benchmarking

The generalized minimum variance (GMV), one of the most important methods for control system performance assessment, is used to introduce the theory of controller design. The theory combines the system error and the controller output based on GMV benchmarking. By this method, we will not only take into account the system tracking error, but also pay attention to the stability of the controller output when designing the controller. Reasonable choices of error weighting and control weighting are very important to minimize the tracking error variance and guarantee closed loop stability. This paper describes the principles for the configuration of two weightings in detail. The effects are demonstrated through single loop control system, traditional cascade control system and parallel cascade system, and are compared with the results calculated by PID, the superiority of GMV benchmarking for controller design is proved.