中文摘要：

以非线性反馈控制器为第二控制器,提出了一种抗饱和离散非线性反馈内模组合控制.采用非线性反馈控制器实现系统无超调,而内模控制器在满足系统鲁棒稳定条件下,设计较小的阻尼率,确保响应快速性和无静差.详细讨论了存在输入受限情况下该组合控制在吸引域内的稳定性,以及降阶输出非线性反馈内模组合控制律在吸引域内的稳定条件.仿真实例表明该新型组合控制方法除了能够无静差跟踪参考输入外,还具有良好的动态性能.

英文摘要：

Taking a nonlinear feedback control as the second controller,a discrete composite control based on nonlinear feedback and internal model theory was proposed to realize the system′s non-overshoot.Internal model controller can support small damping ratio with no steady state error and rapid response on satisfaction of system robust stability.The stability of the composite control and reduced-order output feedback composite control for linear systems with input saturation were deducted respectively in detail.Finally by means of simulation,it is confirmed that except for no steady state error,the systems have an excellent transient performance.