US 12,405,584 B2
Generalized estimator (GE), and generalized disturbance rejection controller (GDRC) and design method thereof
Shaojie Liu, Beijing (CN); Donghai Li, Beijing (CN); and Min Zhu, Beijing (CN)
Assigned to Tsinghua University, Beijing (CN)
Filed by Tsinghua University, Beijing (CN)
Filed on Oct. 28, 2022, as Appl. No. 18/050,721.
Claims priority of application No. 202211050253.0 (CN), filed on Aug. 31, 2022.
Prior Publication US 2024/0094690 A1, Mar. 21, 2024
Int. Cl. G05B 17/02 (2006.01)
CPC G05B 17/02 (2013.01) 18 Claims
OG exemplary drawing
 
1. A generalized estimator (GE), comprising an inner-loop estimation controller and a nominal model module of a controlled object, wherein:
the inner-loop estimation controller is connected to the nominal model module of the controlled object;
the inner-loop estimation controller is configured to transmit a control signal to the nominal model module according to an input variable and a virtual measurement output variable; and
the nominal model module is configured to input the control signal to a nominal model of the controlled object to obtain a controlled output vector and a virtual measurement output variable, and transmit the virtual measurement output variable to the inner-loop estimation controller,
wherein a transfer function of the GE comprises: a transfer function from an input variable y to a controlled output vector yv, and a transfer function from the input variable y to a virtual measurement output variable yc,
the transfer function from the input variable y to the controlled output vector yv is Hycustom characteryc=G2(1+EBG2)−1 EF, wherein Hycustom characteryv represents the transfer function from the input variable y to the controlled output vector yv, G2 represents a second general object transfer matrix, EB represents a first controller transfer matrix, and EF represents a second controller transfer matrix, and
the transfer function from the input variable y to the virtual measurement output variable yc is Hycustom characteryc=G1EF−G2EBG2(1+EBG2)−1 EF, wherein Hycustom characteryc, represents the transfer function from the input variable y to the virtual measurement output variable yc, and G1 represents a first general object transfer matrix.