一种新的H∞固定阶控制器综合方法

提出了只通过一个Ｒｉｃｃａｔｉ方程求解Ｈ∞固定阶控制器的方法，在获得系统与控制器的增广系统后，得到了一个和控制器参数有关的假想控制输入，在其特定形式下得到一个全信息控制问题，由于增广系统是奇异的，根据范数约束得到的Ｒｉｃｃａｔｉ方程是和一个常数有关的，从而较为简单的处理奇异问题，因为假想输入的是扰动和状态变量的反馈形式，故可参数化控制器，最后的结果表明如果参数阵满足某些条件，则固定阶控制器是存在的     

用比例控制器实现对扰动的全补偿

为了获得用比例控制器实现对可测量扰动的全补偿和将扰动响应与设定值响应分别处理，本文提出了一种多控制器策略。它由四个控制器，即：一个设定值控制器、两个扰动控制器和一个比例前馈控制器。这四个控制器可以分别独立设计获得好的设定值跟踪和抗扰动性能，特别是其前馈控制器是比例型的，可实现对可测量扰动的全补偿并保证了前馈控制器的可实现性。最后将该控制策略应用于压力槽的实时控制中，获得了良好的控制性能。     

三维模糊控制器的结构研究1)

基于Zadeh的模糊逻辑推理和语言控制策略，进行了三维模糊控制器的结构研究. 证明了具有线性控制规则的三维模糊控制器可等同于一个全局多层次线性关系式和一个局部非线性PID型控制器，由此剖析了模糊控制器的推理机制和其非线性本质.     

基于GA的模糊控制器在PWM直流位置控制系统中的应用

设计了一种模糊控制器。其中，模糊控制器输入量和输出量的隶属函数以及量化因子用遗传算法进行优化，并把该控制器用于一个基于PWM技术的直流位置控制系统。与原来采用的PI控制器相比，模糊控制器对系统参数的变化适应性更强，控制效果更好。     

结晶器液位控制系统的设计与实现

提出了一种简单有效的结晶液位智能控制控制方法，它包括一个基于模型降阶和内模控制的非线性滑动水口及其液压机构控制器、一个中间包重量前馈控制器和一个结晶液位模糊预测控制器，实验和现场使用表明，该方法能够准确可靠应用于连铸过程控制之中。     

非自衡时滞对象的改进内模控制

针对化工生产中常见的具有积分和时滞特性的过程对象，采用一种改进的两自由度内模控制方案．其中一个新增的控制器用于设定值跟踪响应的期望极点配置，利用直接合成法设计设定值跟踪控制器；另一个新增的控制器用于稳定对象和抑制扰动，并采用期望闭环余灵敏度法确定控制器．设定值跟踪控制器和扰动抑制控制器可通过性能参数独立调节，并保证系统具有较好的鲁棒稳定性．最后，通过仿真实例验证了控制方案的有效性．     

时滞控制系统的无时滞变结构控制器*

对时滞控制系统的变结构控制器的设计，不是象通常的方法那样在一个泛函空间中进行，而只是在一个函数空间中，即控制器和切换流形均不带有时滞项，此方法削弱了要求控制器有记忆功能的限制。我们还通过例子实现了设计步骤。     

时滞系统PID控制器内模整定方法的扩展

基于内模控制（ＩＭＣ）的ＰＩＤ控制器设计方法只有一个整定参数，其整定参数直接与闭环响应速度和控制回路的鲁棒性有关。对于时滞系统，如果使用非对称的二阶Ｐａｄｅ近似代替，则能导出一个简单的二阶控制器形式，而不会使控制器变得复杂，并且模型匹配和控制器整定将获得有意义的改善，特别是对时滞较大的系统。     

一种PID控制器的设计方法

根据一个控制系统的脉冲响应，文中提出了一种由计算机辅助的数字ＰＩＤ控制器的设计方法。所设计的控制器可以近似地实现任意给定的闭环响应，控制器参数由最小二乘法确定，该方法的意义在于建立了一个时域指标与调节器参数之间的关系，该方法只需稍加修改便可以用来设计其它类型的控制器。     

离散分布控制系统的容错设计

在所考虑的离散分布控制系统中，每个可编程控制器作为一个控制结点，结点之间通过网络进行连接保持通信。容错的设计思路是，增加一个在Galois域进行运算的冗余控制器，从而使系统能够自动侦查系统中的结点(可编程控制器)是否正常工作，并能恢复非正常工作的结点(可编程控制器)正常工作，从而使系统能够正常运行，提高其可靠性。实验证明这种设计是有效可行的。     

Adaptive tracking control for robot manipulator

In this study, an adaptive control system is proposed for the tracking control of an n-link robot manipulator to achieve high-precision position control. The presentation of the adaptive control system is divided into three parts: a feedforward controller, a state feedback controller and an uncertainty alleviator. All on-line tuning algorithms in the adaptive control system are derived in the sense of Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system whether the uncertainties occur. It has learning ability similar to intelligent control, but with a simpler control framework. Computer simulations of a three-link SCARA robot manipulator verify the validity of the proposed control strategy in the possible presence of uncertainties. The merits of the proposed control scheme are that not only can the stability of the controlled system be guaranteed, but also no constrained conditions and prior knowledge of the controlled plant are required in the design process.     

不确定奇异时滞系统的保性能控制

利用线性矩阵不等式方法,讨论不确定性奇异时滞系统的保性能控制问题,给出了问题可解的一个充分条件和保性能鲁棒控制器的设计,以及相应的可保性能指标.最后举例说明了所提出方法的正确性.     

An LMI approach to guaranteed cost control for uncertain linear neutral delay systems

This paper considers the problem of guaranteed cost control for uncertain neutral delay systems with a quadratic cost function. The system under consideration is subject to norm‐bounded time‐varying parametric uncertainty appearing in all the matrices of the state‐space model. The problem we address is the design of a state feedback controller such that the closed‐loop system is not only stable but also guarantees an adequate level of performance for all admissible uncertainties. A sufficient condition for the existence of guaranteed cost controllers is given in terms of a linear matrix inequality (LMI). When this condition is feasible, the desired state feedback controller gain matrices can be obtained via convex optimization. An illustrative example is provided to demonstrate the effectiveness of the proposed approach. Copyright © 2002 John Wiley & Sons, Ltd.     

Nonlinear robust state feedback control system design for nonlinear uncertain systems

This paper presents a systematic approach to the design of a nonlinear robust dynamic state feedback controller for nonlinear uncertain systems using copies of the plant nonlinearities. The technique is based on the use of integral quadratic constraints and minimax linear quadratic regulator control, and uses a structured uncertainty representation. The approach combines a linear state feedback guaranteed cost controller and copies of the plant nonlinearities to form a robust nonlinear controller with a novel control architecture. A nonlinear state feedback controller is designed for a synchronous machine using the proposed method. The design provides improved stability and transient response in the presence of uncertainty and nonlinearity in the system and also provides a guaranteed bound on the cost function. An automatic voltage regulator to track reference terminal voltage is also provided by a state feedback equivalent robust nonlinear proportional integral controller. Copyright © 2016 John Wiley & Sons, Ltd.     

压水堆功率跟踪自适应保性能控制器设计

针对压水堆动态模型的高度非线性和不确定性特点,本文提出一种自适应保性能跟踪控制器(adaptive guaranteed cost control,AGCC)设计方法.首先以堆芯的点堆方程为基础,引入功率跟踪误差的积分项,构造反应堆的增广状态空间模型,再结合线性参数变化(linear parameter varying,LPV)理论,建立了堆芯系统的多胞LPV模型.该控制器的控制输入由状态反馈控制和不确定性补偿组成,结合保性能控制理论和多胞模型理论,求解线性矩阵不等式得到变增益状态反馈矩阵,确保闭环系统全局渐近稳定;利用李亚普诺夫稳定理论得到不确定性参数的自适应律,实现对系统不确定性的动态补偿.仿真结果表明,该控制器不仅对系统不确定项具有自适应性,而且有较好的负荷跟踪性能.     

Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties

In this paper, the integrated kinematic and dynamic trajectory tracking control problem of wheeled mobile robots (WMRs) is addressed. An adaptive robust tracking controller for WMRs is proposed to cope with both parametric and nonparametric uncertainties in the robot model. At first, an adaptive nonlinear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation of the parametric uncertainty in the WMR parameters. The designed adaptive feedback linearizing controller is modified by two methods to increase the robustness of the controller: (1) a leakage modification is applied to modify the integral action of the adaptation law and (2) the second modification is an adaptive robust controller, which is included to the linear control law in the outer loop of the adaptive feedback linearizing controller. The adaptive robust controller is designed such that it estimates the unknown constants of an upper bounding function of the uncertainty due to friction, disturbances and unmodeled dynamics. Finally, the proposed controller is developed for a type (2, 0) WMR and simulations are carried out to illustrate the robustness and tracking performance of the controller.     

Direct discrete time design of robust state derivative feedback control laws

This paper is concerned with the problem of designing robust state derivative feedback control laws in discrete time. The main contribution consists of a method for recasting a continuous time state space model in the form of a discrete time model formulated in terms of the state derivative. Uncertain input delays and parametric uncertainties in polytopic form can be propagated from the original state space representation to the resulting state derivative model. Therefore, robust control techniques originally developed for discrete time state space models can be directly employed to design the state derivative feedback law. Three computational examples are presented for illustration. The first example highlights the importance of accounting for the effect of sampling in the design procedure. More specifically, a linear quadratic regulation problem involving the state derivative is addressed. The second example involves the design of a robust predictive controller in the presence of input constraints and uncertain time delay. Finally, the third example is concerned with robust pole placement in the presence of parametric uncertainty.     

基于一类饱和函数的机器人混合鲁棒/自适应控制

提出一类不需要线性PD反馈的混合鲁棒/自适应控制策略,用于不确定性机器人的轨迹 跟踪.其控制结构由一个补偿参数不确定性的自适应控制器和补偿非参数不确定性的鲁棒控 制器构成. 其主要特点是基于一类饱和型函数,提出了一类新颖的鲁棒控制器和非线性滑动 变量的设计方法.基于Lyapunov方法的理论分析和计算机仿真,均保证设计的控制策略能够消 除系统所有的不确定性影响,并达到全局的渐近稳定.     

Design of full state feedback finite‐precision controllers

In this paper, the Generalized L2 Synthesis framework is brought to bear on the problem of control design of full state feedback finite‐precision controllers. In particular, we investigate the problem of designing full state feedback controllers that achieve guaranteed H‐infinity performance objectives, subject to finite precision constraints on the controller. It is shown that by adopting the Generalized L2 Synthesis framework, the errors in the controller implementation can be captured as full structured uncertainty, and computationally tractable linear matrix inequality techniques used for analysis and synthesis. Copyright © 2002 John Wiley & Sons, Ltd.     

Switched state feedback for uncertain continuous‐time systems with interval delays

The objective of this paper is to design a switched robust control for a class of continuous‐time systems subject to linear fractional uncertainty and interval time delays. The controller is based on state feedback and the LMI‐based stability conditions are derived using an improved Lyapunov–Krasovskii functional. Moreover, the switching rule as well as the state feedback gains are determined from the minimization of a guaranteed cost function. The theoretical results are illustrated with a numerical example. Copyright © 2010 John Wiley & Sons, Ltd.