基于幅值相角裕量的改进两自由度内模控制方法

包含非自衡对象的过程，是不稳定过程中的一种特殊情况。在传统内模控制中，当扰动从对象的输入端进入系统，系统的输出端响应中就会存在稳态误差甚至发散，从而破坏响应性能。幅值和相角裕量是表征系统稳定程度的两个重要指标。针对具有较小时间滞后的积分过程，在基于幅值和相角裕量设计的两自由度内模控制系统的基础上做了些改进，使这种方法具有可实现性。

IMC Structure and Controller Design for Integrator and Dead Time Process Based on Gain and Phase-margin Specifications

Integrator and dead time process is a special case of unstable systems. The classical internal model control structure cannot reject disturbances which enter the system from the input of the plant. Gain and phase margins are two well-known measures for maintaining the robustness of the control system. This paper proposes a two-degree-of freedom internal model control basing on gain and phase margins for controlling integrating process with small time delays.