本文在分析和修改了R.S.兰哈瓦提出的切换控制器后,给出了更加完善和实用的反馈切换式控制器。这种控制器的基本原理是:根据误差的大小,误差变化速率以及方向自动地改变反馈极性和控制策略。为使大惯性系统获得较快而又无超调的动态特性提供了一种简便而又实用的控制方法。 After analyzing and modifying the switching controller proposed by R.S. Lanhava, this paper gives a more complete and practical feedback switching controller. The basic principle of this controller is to automatically change the feedback polarity and control strategy based on the size of the error, the rate of error variation, and the direction. A simple and practical method of control is provided for making large inertial systems faster and without overshooting dynamics.