提出了一种基于最小二乘的多变量系统阶跃响应的模型辨识方法。
A model identification method on multivariate system step response based on least Square is given out.
通过对闭环系统阶跃响应和零极点图的分析，合理的确定了系统最优反馈控制增益矩阵，最终完成了控制器的设计。
With the analysis of the step response diagram and poles diagram, the optimal state feedback array is obtained and finish designing of optimal controller of AGV.
仿真试验和实际运行证明了该控制方案能够在不影响原有系统阶跃响应的情况下，减小斜坡响应的稳态误差，提高伺服系统的动态响应能力。
The results of computer simulation and practical running prove that this scheme can reduce static error of ramp response without affecting system step response character.
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