论文标题
输出反馈稳定的脏衍生物
Dirty derivatives for output feedback stabilization
论文作者
论文摘要
肮脏的衍生物通常用于工业环境中，特别是在PID控制中实施衍生术语中，并且由于其噪声分配和无模型特征而特别有吸引力。在本文中，我们提供了基于Lyapunov的证据，以实现控制器规范形式的线性时间不变控制系统的稳定性，以代替观察者，以实现输出反馈。据作者所知，这是第一次提供稳定性证明，以代替不同秩序的衍生物来使用脏衍生物。本着自适应控制的精神，我们还展示了当控制增益未知时，如何将脏导数用于输出反馈控制。
Dirty derivatives are routinely used in industrial settings, particularly in the implementation of the derivative term in PID control, and are especially appealing due to their noise-attenuation and model-free characteristics. In this paper, we provide a Lyapunov-based proof for the stability of linear time-invariant control systems in controller canonical form when utilizing dirty derivatives in place of observers for the purpose of output feedback. This is, to the best of the authors' knowledge, the first time that stability proofs are provided for the use of dirty derivatives in lieu of derivatives of different orders. In the spirit of adaptive control, we also show how dirty derivatives can be used for output feedback control when the control gain is unknown.
