ABSTRACT A new approach to the solution of what is termed causal output tracking problem for linear time-invariant systems in the presence of both matched and unmatched unmodelled disturbances is presented. The proposed solution is addressed through the design of a dynamic steady state estimator based on the desired system structure and an observer, considering the reference as the system output. The unmatched disturbance is estimated and used in the steady state estimator to achieve invariance, while the matched disturbance robustness is provided via sliding mode control using the super-twisting algorithm. A useful application of the presented techniques is output tracking for non-minimum phase systems; thus, the performed simulation results confirm the effectiveness of the proposed control scheme for this kind of systems.

中文翻译：

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通过滑模控制对线性扰动系统进行近似因果输出跟踪

摘要 本文提出了一种新方法，用于在存在匹配和不匹配的未建模扰动的情况下解决线性时不变系统的所谓因果输出跟踪问题。所提出的解决方案是通过设计基于所需系统结构和观察器的动态稳态估计器来解决的，将参考视为系统输出。不匹配扰动被估计并用于稳态估计器以实现不变性，而匹配扰动鲁棒性通过使用超扭曲算法的滑模控制提供。所提出技术的一个有用应用是非最小相位系统的输出跟踪；因此，所执行的仿真结果证实了所提出的控制方案对此类系统的有效性。