线性不确定系统的鲁棒稳定控制器设计

对于满足匹配条件的线性不确定系统,本文根据Lyapunov稳定性原理给出一种鲁棒稳 定控制器的设计方法,这种方法可以设计鲁棒稳定控制器对于标称系统是最优的.本文还将 这种方法推广到不满足匹配条件的线性不确定系统,并给出数值例子说明了这种方法的有效 性.

The Design of Robust Stabilizing Controllers for Uncertain Systems

For a linear system containing time-varying matched uncertaintyies, based on the Lyapunov stability criterion, we present a new method for designing a robust stabilizing controller in this paper. The method is simple in compuation and the resulting controller is easy in implementation. Meanwhile, the robust control law can be made linear quadratic optimal with respect to an index function for the nominal system. This method is also generalized to linear mismatched uncertain systems. The examples have bown the effectiveness of this method.