| 摘要 |
Two linear quadratic tracking controllers and a minimal prototype controller are presented for the tracking control of a set point model of a discrete SISO control system. The minimal prototype controller is an unconstrained controller. Depending on th e set point model, this controller might be desirable. But usually one would choose one of the two linear quadratic controllers which minimize the sum of squared errors betwee n the output and the set point variables with a penalty on the input variable. The one degree of freedom (1-DOF) controller performs well but for nonminimum phase systems th e two and a half degrees of freedom (2.5-DOF) is a stronger controller as it can suppress the inverse response of a nonminimum phase system.
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