应用于直流电机调速系统的变参数PI控制器

针对传统双模控制用于速度控制系统时存在的问题，提出了一种变参数PI控制器。该控制器对传统双模控制的切换条件进行了修正，无论在快速跟踪阶跃给定，还是有效抗负载扰动，均有更为优良的动态性能。     

应用于直流电机调速系统的变参数PI控制器

针对传统双模控制用于速度控制系统时存在的问题，提出了一种变参数ＰＩ控制器。该控制器对传统双模控制的切换条件进行了修正，无论在快速跟踪阶跃给定，还是有效抗负载抗动，均有更为优良的动态性能。     

基于初态修正的ILGA控制器参数整定

针对迭代学习遗传算法（ILGA）对PID控制器参数进行整定时要求系统初态等于理想初态的问题，采用在迭代前对实际初态自学习逼近理想初态的方法，放松了迭代学习遗传算法的应用条件，并具有迭代学习次数少，整定PID控制器的最佳控制参数快的特点．简化了控制器的设计过程。给出仿真算例显示了该方法在PID控制器参数自动寻优上的有效性。     

鲁棒严格正实镇定的顶点结果

本文主要研究了区间系统的鲁棒严格正实镇定问题。文中首先给出了系统严格正实镇定的充分条件。然后分析了该条件的可计算性并对一类区间分母系统获得了采用一阶控制器时鲁棒严格正实镇定的顶点结果，使得控制器设计大为简化。     

使用多控制器结构的可靠镇定

采用因子化方法研究了具有强镇定被控对象的可靠镇定问题.证明了几种可靠镇定 问题定义之间的等价关系,并表征了可靠控制器的结构.给出了对于任意给定的控制器,存在 另一个控制器使其共同解决可靠镇定问题的充要条件,该条件提供了一种选择可靠控制器的 方法.     

逆系统方法的径向基函数网络实现

研究采用径向基函数网络（ＲＢＦＮ）构造系统逆控制器的工程实现问题，同时给出该直接逆动态控制器存在的充分条件。为进一步改善基于ＲＢＦＮ的直接逆动态控制器的动态性能，对该伪逆系统进行ＰＩＤ综合。仿真研究表明，以ＲＢＦＮ拟合对象逆过程的ＰＩＤ综合控制策略不仅能改善系统的动态性能，而且具有良好的参数鲁棒性能。     

时滞广义区间系统的弹性保性能控制

研究了一类时滞广义区间系统的弹性保性能控制问题.利用线性矩阵不等式处理方法,导出了系统弹性保性能控制器存在的条件,证明了该条件等价于一个线性矩阵不等式的可行性问题,并用该线性矩阵不等式的可行解给出了弹性保性能控制器的一个参数化表示.进一步,通过求解一个凸优化问题,给出了系统的最优弹性保性能控制器的设计方法.最后的数值例子说明了所给方法的有效性.     

采用条件技术设计AIMC结构的抗饱和控制器

AIMC(Anti-windup IMC)结构是内模控制与扰动观测器相结合的抗饱和控制结构,为了有效地解决AIMC结构中的抗饱和控制器的设计问题,提出了采用条件技术设计AIMC结构中的抗饱和控制器的方法。分析了AIMC结构是一种二自由度的新型IMC结构,能够同时解决扰动及饱和问题。通过引入条件技术的可行性参考输入的概念,给出了抗饱和控制器的设计方法。给出了运用该方法的一个仿真实例,仿真结果表明所设计的系统具有良好的抗饱和性能及抗扰动性能。采用条件技术设计AIMC结构中的抗饱和控制器,计算简便,在没有引入新的不确定参数的条件下改善了系统的整体性能。该方法是一种很有实际价值的抗饱和控制器的设计方法。     

滞后中立型关联控制系统的滑动模变结构控制*

本文设计了滞后中立型非线性关联系统的滑动曲面和分菜滑动模型控制器，每个子系统的控制器仅用到其局部状态信息，在滑动曲面和分散滑动模控制器可实现的条件下，在子上Ｒｉｃｃａｔｉ方程的描述和到了可实现滑动模控制器的一个充分条件，该条件等价于由分散和状态反馈镇定的条件，从而本文的结果比以前的工作更合适，且可实现减少设计的保守性。     

奇异摄动系统的边界层鲁椿控制研究及应用

研究一类非线性奇异摄动系统的边界层鲁棒控制问题。该类系统边界层的不确定项不满足一般匹配条件。鲁棒控制器的设计分为伪名义边界层和整个边界层系统两步进行。在满足某些条件时，设计的控制器可使该类系统的边界层仍保持渐近稳定特性，将此方法用于中程空地导弹的中制导系统，仿真结果验证了该设计方法的有效性。     

基于鲁棒可靠性的不确定时滞系统最优H∞控制器设计

用区间变量描述控制系统参数的不确定性,提出了不确定时滞系统鲁棒H_∞控制的鲁棒可靠性方法,基于鲁棒可靠性的不确定时滞系统最优状态反馈H_∞控制器设计方法,将系统的最优控制器设计归结为基于线性矩阵不等式(LMI)的优化问题．所设计的控制器可以在满足对所有不确定性鲁棒可靠的前提条件下,具有最优的H_∞鲁棒性能,并能在控制系统的设计中综合考虑控制性能、控制代价和鲁棒可靠性．数值算例说明了所提方法的有效性和可行性．     

Robust control for nonlinear motor-mechanism coupling system using wavelet neural network

A robust controlled toggle mechanism, which is driven by a permanent magnet (PM) synchronous servo motor is studied in this paper. First, based on the principle of computed torque control, a position controller is developed for the motor-mechanism coupling system. Moreover, to relax the requirement of the lumped uncertainty in the design of a computed torque controller, a wavelet neural network (WNN) uncertainty observer is utilized to adapt the lumped uncertainty online. Furthermore, based on the Lyapunov stability a robust control system, which combines the computed torque controller, the WNN uncertainty observer and a compensated controller is proposed to control the position of the motor-mechanism coupling system. The computed torque controller with WNN uncertainty observer is the main tracking controller, and the compensated controller is designed to compensate the minimum approximation error of the uncertainty observer. Finally, simulated and experimental results due to a periodic sinusoidal command show that the dynamic behaviors of the proposed robust control system are robust with regard to parametric variations and external disturbances.     

Robust resilient dynamic controllers for systems with parametric uncertainty and controller gain variations

One of the fundamental problems in feedback control design is the ability of the control system to maintain stability and performance in the face of system uncertainties. To this end, elegant multivariable robust control design frameworks such as H control, L control and mu synthesis have been developed to address the robust stability and performance control problem. An impl1icit assumption inherent in these design frameworks is that the controller will be implemented exactly. In a recent paper by Keel and Bhattacharyya, it was shown that even though such frameworks are robust with respect to system uncertainty, they are extremely fragile with respect to errors in the controller coefficients. In this paper, we extend the robust fixed-structure controller synthesis approach to develop controllers which are robust to system uncertainties and non-fragile or resilient to controller gain variations.     

Robust backstepping output tracking control for SISO uncertain nonlinear systems with unknown virtual control coefficients

The output tracking controller design problem is dealt with for a class of nonlinear strict-feedback form systems in the presence of nonlinear uncertainties, external disturbance, unmodelled dynamics and unknown time-varying virtual control coefficients. A new method based on signal compensation is proposed to design a linear time-invariant robust controller, which consists of a nominal controller and a robust compensator. It is shown that the closed-loop control system with a controller designed by the proposed method has robust asymptotical practical tracking property for any bounded initial conditions and robust tracking transient property if all initial states are zero.     

A robust stabilization problem of fuzzy control systems and itsapplication to backing up control of a truck-trailer

A robust stabilization problem for fuzzy systems is discussed in accordance with the definition of stability in the sense of Lyapunov. We consider two design problems: nonrobust controller design and robust controller design. The former is a design problem for fuzzy systems with no premise parameter uncertainty. The latter is a design problem for fuzzy systems with premise parameter uncertainty. To realize two design problems, we derive four stability conditions from a basic stability condition proposed by Tanaka and Sugeno: nonrobust condition, weak nonrobust condition, robust condition, and weak robust condition. We introduce concept of robust stability for fuzzy control systems with premise parameter uncertainty from the weak robust condition. To introduce robust stability, admissible region and variation region, which correspond to stability margin in the ordinary control theory, are defined. Furthermore, we develop a control system for backing up a computer simulated truck-trailer which is nonlinear and unstable. By approximating the truck-trailer by a fuzzy system with premise parameter uncertainty and by using concept of robust stability, we design a fuzzy controller which guarantees stability of the control system under a condition. The simulation results show that the designed fuzzy controller smoothly achieves backing up control of the truck-trailer from all initial positions     

带有大型挠性网状天线航天器的鲁棒H∞控制方法

针对带有大型挠性网状天线航天器存在的挠性结构不确定性问题,提出了基于比例微分(PD)结构滤波器的鲁棒H∞双层反馈控制方法,第1层采用经典的PD+结构滤波器,确保刚体部分双积分环节稳定,第2层在提取第1层标称模型后,给出通用加权函数,通过构造增广模型得到鲁棒H∞控制器.该控制器结构简单,适合工程应用.通过仿真表明,本方法相对于传统PID+结构滤波器方法能够快速稳定三轴姿态;当结构参数变化较大且三轴姿态偏置为动态时变时,有可能导致传统方法失稳,而本方法具有较强的鲁棒适应性,仍能完成航天器天线的指向任务.     

线性不确定奇异摄动系统的稳定控制鲁棒界

对于具有不确定量的奇异摄动系统，利用Lyapunov稳定性理论研究其稳定鲁棒控制问题。在一定条件下得到了任一理想奇异摄动系统的稳定鲁棒控制，也是不确定奇异摄动系统具有一定鲁棒界的稳定控制。给出了闭环奇异摄动系统渐近稳定的条件，讨论了鲁棒界及其变化范围。     

仿人智能PID控制器设计

PID控制算法简单 ,参数调整方便 ,应用广泛。但是常规的PID控制器参数往往整定不良、性能欠佳 ,对运行工况的适应性很差。该文设计的仿人智能PID控制器用正态函数拟和模糊控制规则 ,辅以根据误差和误差变化率的调整 ,能根据实际情况调整和完善PID参数 ,具有鲁棒性强 ,响应速度快 ,稳态精度高等优点。该方法在导弹自动驾驶仪的设计中有很好的应用效果。     

Robust hybrid predictive control of nonlinear systems

In this work, we consider nonlinear systems with input constraints and uncertain variables, and develop a robust hybrid predictive control structure that provides a safety net for the implementation of any model predictive control (MPC) formulation, designed with or without taking uncertainty into account. The key idea is to use a Lyapunov-based bounded robust controller, for which an explicit characterization of the region of robust closed-loop stability can be obtained, to provide a stability region within which any available MPC formulation can be implemented. This is achieved by devising a set of switching laws that orchestrate switching between MPC and the bounded robust controller in a way that exploits the performance of MPC whenever possible, while using the bounded controller as a fall-back controller that can be switched in at any time to maintain robust closed-loop stability in the event that the predictive controller fails to yield a control move (due, e.g., to computational difficulties in the optimization or infeasibility) or leads to instability (due, e.g., to inappropriate penalties and/or horizon length in the objective function). The implementation and efficacy of the robust hybrid predictive control structure are demonstrated through simulations using a chemical process example.     

高超声速飞行器非线性鲁棒控制律设计

高超声速飞行器具有模型非线性程度高、耦合程度强、参数不确定性大、抗干扰能力弱等特点,其自主控制具有较大的挑战.论文提出了一种基于鲁棒补偿技术和反馈线性化方法的非线性鲁棒控制方法.文中首先采用反馈线性化的方法对纵向模型进行输入输出线性化,实现速度和高度通道的解耦和非线性模型的线性化.针对得到的线性模型,设计包括标称控制器和鲁棒补偿器的线性控制器.基于极点配置原理,设计标称控制器使标称线性系统具有期望的输入输出特性,利用鲁棒补偿器来抑制参数不确定性和外界扰动对于闭环控制系统的影响.基于小增益定理,证明了闭环控制系统的鲁棒稳定性和鲁棒跟踪性能.相比于非线性回路成形控制方法,仿真结果表明了所设计非线性鲁棒控制算法的有效性和优越性.