球形对象族的最优鲁棒镇定

本文对球形对象族系统最优鲁棒镇定问题进行了研究.利用最小范数解方法求解球形对象族的可镇定性半径.可镇定性半径是系统稳定性半径的上界,最优控制器的稳定性半径等于镇定性半径.文中给出球形对象族最优鲁棒控制器的形式,并通过示例具体说明球形对象族最优鲁棒控制器的设计方法.     

区间系统鲁棒稳定性的有限检验

讨论区间对象族能否被一给定补偿器鲁棒镇定的问题.用Sturm判据给出闭环区 间系统鲁棒稳定的充要条件.     

菱形对象族的顶点镇定结果

本文研究了菱形对象族的鲁棒镇定问题。当控制器取为分子，分母为仅有奇次项的或仅有偶次荐的多项式的真有理分式时，证明了该控制器鲁棒镇定菱形对象族的充分必要条件为该控制器同时镇定三十二个顶点对象。当上述控制器的分子，分母限于正负交错系数的仅有奇次项的或仅有偶次项的多项式时，该控制器鲁棒镇定菱形对象族所需同时镇定的顶点对象最多为十六个，所进结果与对象族的阶次无关。     

菱形对象族的鲁棒镇定*

本文研究了菱形对象族的鲁棒镇定问题，证明了控制器鲁棒镇定菱形对象族的充分必要条件是它同同时镇定六十四条棱边对象，在此基础上，利用凸方向的概念讨论了控制器分子、分母的选择，并给出了菱形对象族的顶点镇空结果。     

一类参数不确定性系统的鲁棒控制

讨论了带有分母多项式摄动的参数不确定性系统的鲁棒镇定问题,给出了这类参数 不确定性系统存在鲁棒控制器的一个充分条件,并且当这个条件被满足时,得到了部分鲁棒 控制器的一个参数化公式.     

多线性凸多面体对象族的鲁棒镇定

研究了由多个不确定对象串联所构成的多线性凸多面体对象族的鲁棒镇定问题,在对控 制器的结构进行某些假设的条件下,给出了控制器鲁棒镇定对象族的充分必要条件是它同时镇定 所有的顶点对象.     

带有分母因式摄动不确定系统的鲁棒镇定

讨论了带有分母因式不确定性摄动系统的鲁棒镇定问题,给出了控制器K鲁棒镇 定摄动系统G△的充分必要条件,当标称系统G=M-lN∈RL∞时,借助于求解次优Nehari问 题,以状态空间形式给出了摄动系统的鲁棒控制器的参数化公式.     

具有滞后输入的不确定系统的鲁棒镇定

本文研究具有滞后输入的不确定系统的鲁棒镇定问题，导出了系统可以用一个无记忆状态反馈控制律鲁棒镇定的条件，据此，提出了一个鲁棒稳定化控制器的设计方法．     

时滞线性区间系统的鲁棒稳定与鲁棒镇定

利用一个微分不等式给出了几类具有区间 系数的时滞系统的鲁棒稳定和鲁棒镇定的充分条件,这些条件只需判断一个常数矩阵是否为 M矩阵,使用方便．     

含参数不确定性系统的鲁棒性能设计

讨论含有参数不确定性系统的鲁棒性能设计问题。首先将该问题转化为一个多项式簇的鲁棒稳定性问题，从而得到鲁棒性能控制器应满足的频域充要条件，然后通过一个双回路控制器的设计将鲁棒镇定和鲁棒性能设计分两步进行，使设计条理化、简单化。     

区间系统在反馈控制情况下的性能鲁棒性

本文讨论含区间对象的反馈控制系统性能鲁棒性问题，给出了检验区间系统性能鲁棒性的充要条件．当补偿器满足某种假设条件时，给出了闭环系统性能鲁棒性的有限检验结果。在有限检验的前提下，给出了补偿器在系数空间中所应满足的制约条件。     

不确定离散线性系统的鲁棒镇定

针对一类具有范数有界时变不确定性的离散性线系统,研究其二次稳定化状态反馈控制律的设计问题。推导出二次稳定化控制律存在一个充分必要条件,该条件被塌一步等价地表示成一个线性矩阵不等式的可解性问题。后者可用现有方法方便地求解,且它的解提供了所有二次稳定定化控制律的一个参数化表示。     

一类离散时间线性切换系统的二次鲁棒镇定

针对一类具有范数有界时变不确定性的离散时间线性切换系统,研究了其二次稳定化状态反馈控制律的设计问题.利用多李亚普诺夫函数法推导了在任意切换下二次稳定化控制律存在的充分条件,该条件被进一步等价地表示成线性矩阵不等式的可解性问题.同时它的解提供了二次稳定化控制律的一个参数化表示.仿真结果验证了所提方法的有效性.     

Stabilization of polytopes of plants by their vertices

This paper aims to assess the stability of a polytope of linear systems by their vertices. These results are based on the Hermite‐Biehler and Edge theorems. A sufficient condition satisfying a constraint on the even (or odd) part of the closed‐loop characteristic polynomials associated with the stabilization of its vertices is proved. Finally, a constructive method to stabilize a polytope of plants with simultaneous and robust linear time‐invariant controllers is established.     

An interactive approach to template generation in quantitative feedback theory methodology

The calculation of templates associated with plant uncertainty at some frequencies is one of the first steps in the design of robust controllers using the quantitative feedback theory (QFT) methodology. If the QFT designer does not calculate the templates correctly, the design will be unnecessarily conservative, or even erroneous. This paper describes the main features of Template Interactive Generator (TIG), a new, free software tool that calculates the templates of plants with special parameter dependences, such as interval plants and plants with affine parametric uncertainty. The paper also includes two examples that illustrate the ease of use and the high level of interactivity of TIG. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

基于观测器的不确定时滞系统的鲁棒控制

研究不确定线性时滞系统的状态观测器和基于观测器的鲁棒控制器设计问题,其中不确定性是时变的、不要求满足匹配条件。通过构造增广系统,利用Ｌｙａｐｕｎｏｖ稳定性理论,获得了该不确定系统存在状态观测器和基于观测器的鲁棒控制器的充分条件,同时给出了相应的状态观测器和基于观测器的鲁棒控制器。所得结论推广并改进了已知的一些结果,并通过实例说明了其有效性。     

Analysis and Design of Robust Controllers Using the Interval Diophantine Equation

In this paper the design of pole placement feedback controllers for interval plants is addressed within an Interval Analysis framework. Three main topics connected by the concept of interval Diophantine equation are treated: a relatively straightforward investigation about robust coprimeness of interval polynomials, a reliable computing approach for the design of pole placement controllers in the presence of inaccuracies of interval type, and the design of robust controllers with regional pole placement specifications. After explicitly characterizing a convex subset of robust controllers, the problem of designing non-fragile controllers is formulated as a design centering problem, which is then solved by a global optimization algorithm. Numerical examples illustrate the main characteristics of the approach proposed.This paper has been partially supported by grants from Conselho Nacional de Desenvolvimento Científico e Tecnológico–Brazil.     

正规和奇异H∞控制器的统一表达式

给出了一种新的H∞控制器设计方法,通过引入设计时可选的非奇异实数阵,取消了控制器设计时对D矩阵的秩限制.适用于正规的H∞控制问题和奇异的H∞控制问题.对状态反馈等四种典型问题和输出反馈控制问题,给出了控制器存在的充分必要条件.控制器通过Riccati方程的解,用参数化方法表示.输出反馈控制器,通过解两个Riccati方程得到.讨论了控制器的相关特性.     

Robust reliable guaranteed cost control of positive interval systems with multiple time delays and actuator failure

This paper addresses the robust reliable guaranteed cost control problem of positive interval systems with multiple time delays and actuator failure for a given quadratic cost function. Through constructing a Lyapunov–Krasovskii functional, a sufficient condition for the existence of robust reliable guaranteed cost controllers is established such that the closed-loop system is positive and asymptotically stable, and the cost function is guaranteed to be no more than a certain upper bound. Based on the linear matrix inequality method, a criterion for the design of robust reliable guaranteed cost controllers is derived which can tolerate all admissible uncertainties as well as actuator failure. Moreover, a convex optimisation problem with linear matrix inequality constraints is formulated to design the optimal robust reliable guaranteed cost controller which minimises the upper bound of the closed-loop system cost. A numerical example is given to show the effectiveness of the proposed methods.     

一种区间系统鲁棒稳定补偿器设计的映射方法

研究了一类区间系统的四条棱边同时稳定的问题 ,利用保形映射及Nevanlinna-Pick插值 定理提出了一个可行的补偿器设计方法.