In the PID controller design, three sensitivity functions are used as the design indexes of mixed sensitivity. In order to select the weighted functions of the three sensitivity indexes, a method of determining the weighted functions based on dynamic tracking performance is proposed. The method is applied to the performance test of the servo control system of steering gear. The test results show that the hybrid sensitivity is used as the design index of the servo system PID control, and the control system has strong anti-interference ability and good tracking performance.

中文翻译：

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混合灵敏度约束下基于PID参数稳定域的执行器高精度伺服系统研究

在PID控制器设计中，将三个灵敏度函数用作混合灵敏度的设计指标。为了选择三个敏感度指标的加权函数，提出了一种基于动态跟踪性能的加权函数确定方法。该方法应用于舵机伺服控制系统的性能测试。测试结果表明，混合灵敏度作为伺服系统PID控制的设计指标，控制系统具有较强的抗干扰能力和良好的跟踪性能。