摘要：该文利用特征建模的基本原理，从高阶伺服系统的模型辨识入手，建立了表征系统主要性能的低阶模型，同时设计了基于特征模型的实时PID控制器，在此基础上提出了滑模-特征PID控制，使系统的快速性和稳定性都得到了很大的改善。仿真结果证明系统具有很好的动态和静态特性，鲁棒性强，控制效果显著。
关键词：伺服系统；特征建模；滑模-特征PID

Abstract:In this paper, using the method of feature modeling, a servo system’s low-level model was established characterized by key performance through its high-order model identification. And the model of real-time PID controller based on feature modeling was designed, sliding mode-feature PID controller being proposed. The system’s capability was tremendously improved. The simulation results show that the system has favorable dynamic and steady performance, strong robustness and significant control effect.
Key Words:Servo system; Feature modeling; Sliding mode-feature PID controller