The basic Bode’s ideal transfer function (BITF) based controller may not guarantee sufficient disturbance rejection for a class of plants with a cascaded integrator. In this paper, an improved BITF based control method is proposed to enhance the disturbance rejection performance for this class of control systems. A fractional order proportional–integral controller and a Bode’s ideal cut-off filter are introduced into the BITF based control strategy, improving the open-loop magnitude characteristics of the control system in the low and high frequency ranges. Therefore, the disturbance rejection performance of the control system can be improved, with small impact on the system’s stability. The improved BITF based control method is applied to the speed control problem of a class of permanent magnet synchronous motor servo systems. The robustness and dynamic response performances of the improved BITF based control system are verified by simulation and experiments. Performance comparisons are performed between the system using the improved BITF based control method and those using some existing control methods. Simulation and experimental results both show that the improved BITF based controller can enhance the step response performance and robustness of the PMSM servo system simultaneously and make the system achieve better disturbance rejection performance than the systems using some existing methods.

基本的Bode基于理想传递函数（BITF）的控制器可能无法保证对于具有级联积分器的一类设备的足够的干扰抑制能力。本文提出了一种改进的基于BITF的控制方法，以提高此类控制系统的抗干扰性能。在基于BITF的控制策略中引入了分数阶比例积分控制器和Bode的理想截止滤波器，从而改善了低频和高频范围内控制系统的开环幅值特性。因此，可以提高控制系统的抗干扰性能，而对系统的稳定性影响很小。改进的基于BITF的控制方法被应用于一类永磁同步电动机伺服系统的速度控制问题。通过仿真和实验验证了改进的基于BITF的控制系统的鲁棒性和动态响应性能。在使用改进的基于BITF的控制方法的系统与使用某些现有控制方法的系统之间执行性能比较。仿真和实验结果均表明，改进的基于BITF的控制器可以同时提高PMSM伺服系统的阶跃响应性能和鲁棒性，并使该系统比使用某些现有方法的系统具有更好的抗干扰性能。