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中文摘要：
针对电子节气门系统的状态变量不完全可测量,设计了一个基于观测器的输出反馈电子节气门控制系统.该系统由一个估计不可测量状态的降阶观测器和一个非线性状态反馈控制器组成.同时在控制器中引入了跟踪误差的积分项以抑制跟踪静差.将建模误差和观测器误差等不确定性看作外部扰动,在输入到状态稳定性（Input to state stability,ISS）理论框架下分析了跟踪误差系统的鲁棒性,并据此给出了选择控制器参数的指导性原则.仿真及实验结果表明,基于观测器的输出反馈控制器能够很好地实现电子节气门的跟踪控制.
英文摘要：
This paper presents an observer-based output feedback control scheme for electronic throttles system whose states are not all measurable.The control system consists of a reduced-order observer to estimate the unmeasurable state and a nonlinear state feedback controller.An integral action of the tracking error is introduced for reducing the offset.Robustness of the tracking error system is discussed in the framework of input to state stability（ISS）theory, where model uncertainties are considered as additive disturbance inputs.Based on this,a guideline for selecting the controller parameters is given.Finally,simulation and experiment results are provided to demonstrate the effectiveness of the proposed control scheme.
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