# 控制重构本文重定向自 控制重構

（重定向自控制重新組態）

## 重构问题

### 故障建模

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}&=\mathbf {A} \mathbf {x} +\mathbf {B} \mathbf {u} \\\mathbf {y} &=\mathbf {C} \mathbf {x} \end{cases}}}$

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}_{f}&=\mathbf {A} _{f}\mathbf {x} _{f}+\mathbf {B} _{f}\mathbf {u} \\\mathbf {y} _{f}&=\mathbf {C} _{f}\mathbf {x} _{f}\end{cases}}}$

1. 由{${\displaystyle \mathbf {u} ,\mathbf {y} }$}中选择新的输入及输出信号以满足控制目的。
2. 调整控制器内部状态（包括其动态结构及参数）
3. 调整参考输入${\displaystyle \mathbf {w} }$.

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}_{f}&=\mathbf {A} \mathbf {x} _{f}+\mathbf {B} \mathbf {u} +\mathbf {E} \mathbf {f} \\\mathbf {y} _{f}&=\mathbf {C} _{f}\mathbf {x} _{f}+\mathbf {F} \mathbf {f} \end{cases}}}$

1. 稳定
2. 还原平衡点
3. 还原输出轨迹
4. 还原状态轨迹
5. 还原暂态时间响应

## 延伸阅读

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