针对一类具有全极点的区间不确定时滞系统,给出了相位超前/滞后补偿器的一种图解鲁棒设计方法.对滞后因子采用一阶Pade近似,应用广义Kharitonov定理,证明了图解法设计出的相位超前/滞后补偿器可以镇定区间不确定近似系统.通过仿真验证了该补偿器亦可镇定原区间不确定时滞系统,并保持良好的系统性能.该种图解设计方法选择参数灵活,便于实际应用.%A graphical robust design approach was provided to phase lead/lag compensators for a class of all-pole interval uncertain systems with time-delay. The delay factor of the system was approximated by a first-order Pade approximation,and it was proved, using the generalized Kharitonov theorem,that the interval uncertain approximating system can be stabilized by the phase lead/lag compensators designed via the graphical method. Digital simulation demonstrates that the original interval uncertain delayed system can be stabilized by such designed phase lead/lag compensator and retaining good closedloop performances. The graphical design method adopted here has the merits of flexible parameter tuning and easier practical applications.
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