本文对带有 Davison 型伺服补偿器的鲁棒伺服系统,采用了通用输出反馈稳定控制器。考虑到控制对象参数变化时对动态特性的要求,提出一种增广二次型性能指标,用参数优化方法设计控制器的参数。用此法综合后的系统不仅有良好的稳定度,对给定参考输入能渐近跟随和对干扰能渐近调节,并可使系统在参数变化时有较好的动态特性。文中给出综合鲁棒控制器存在的条件,导出综合鲁棒控制器应满足的一组必要条件。用 FORTRAN—80 语言实现最优化算法的通用 CSCAD 程序,并在IMS—8000 机上调试通过。最后,用实例表明了算法的有效性。 In this paper, a robust servo system with a Davison-type servo compensator is adopted, and a general output feedback stabilization controller is adopted. Considering the requirements of the dynamic characteristics when the parameters of the control objects change, an augmented quadratic performance index is proposed and the parameters of the controller are designed by using the parameter optimization method. The system synthesized by this method not only has good stability, but also can approach asymptotically to a given reference input and asymptotically adjusts the disturbance, and makes the system have better dynamic characteristics when the parameters change. In this paper, the conditions for the existence of the integrated robust controller are given and a set of necessary conditions for the synthesis of the robust controller are derived. With FORTRAN-80 language optimization algorithm CSCAD common procedures, and IMS-8000 machine debugging. Finally, an example shows the effectiveness of the algorithm.