中文摘要：

针对线性定常系统，基于GuardianMaps稳定理论提出了一种面向性能指标的控制器参数整定方法。将期望的闭环系统动态性能和稳定裕度指标转化为状态矩阵特征值的配置问题，进而利用GuardianMaps包围函数，在系统参数已知的条件下，可确定满足期望性能的全部控制器参数；在控制器参数既定时，可确定满足期望性能的系统参数许用摄动范围。仿真验证了所提方法的有效性，同时表明该方法通用性强，对PID控制、状态反馈及自适应等控制器参数整定问题均适用。

英文摘要：

Abstract： Aimed at linear time-invariant system, a performance-oriented controller parameters tuning method is proposed based on Guardian Maps stability theory. First, the expected dynamic properties and stability margin of closed loop system are transformed into a problem of regime matrix eigenvalue assign- ment, and then the Guardian function is computed to determine all the controller parameters under condi- tion of the plant parameters known. Simultaneously, the controller parameters are fixed, and the allowable range of system parameters can also be obtained. The method with strong universality can be used for PID, state feedback as well as adaptive controller parameters tuning, etc. Simulation results show that this pro- posed method is effective.