不确定性时滞大系统的分散鲁棒跟踪控制器设计

研究不确定性关联时滞大系统的分散鲁棒输出跟踪控制问题,系统中不确定项具有数值界,可满足匹配条件,基于不确定项的表达形式,给出了存在分散分散鲁棒跟踪控制器的线性矩阵不等式（LMI）条件,在此基础上,通过建立求解受LMIs约束的凸优化问题,提出了具有较小反馈增益LMI设计方法,使受控系统渐近跟踪给定的参考输入,LMI方法求解简单,便于计算。     

参数不确定广义大系统的分散鲁棒镇定控制

应用线性矩阵不等式(LMI)方法研究了参数不确定广义大系统的分散鲁棒镇定控制问题，系统中不确定项具有数值界，可不满足匹配条件．基干不确定项的表达形式，给出了存在分散鲁棒控制器的LMI条件．仿真例子表明，LMI方法求解简单、便干应用。     

不确定广义大系统分散鲁棒H∞保性能控制

针对一类状态矩阵和控制矩阵存在参数不确定的广义大系统,研究其分散鲁棒H∞保性能控制问题,系统中不确定项具有数值界,可不满足匹配条件.基于广义系统的有界实引理,应用线性矩阵不等式(LMI)方法,给出了不确定广义大系统存在分散鲁棒H∞保件能控制器的一个LMI条件,并用这个线性矩阵不等式系统的可行解提供了一组分散鲁棒H∞保性能控制律的参数化表示,最后用例子说明该方法的应用.     

不确定线性组合系统的分散镇定与输出跟踪

提出了不确定线性组合系统存在分散鲁棒反馈控制器和输出跟踪吕的充分条件。     

基于LMI的航空发动机鲁棒弹性保性能控制

针对范数有界不确定性系统设计鲁棒弹性保性能控制器,将鲁棒弹性保性能控制器的设计问题转化为线性矩阵不等式（LMI）的可行解问题。以LMI的形式给出了鲁棒弹性保性能控制器存在的充分必要条件及控制器的设计步骤,并将该方法用于某型双转子涡喷发动机稳态双变量控制仿真,利用LMI/Matlab工具箱进行数值求解。既保持了鲁棒性也解决了传统鲁棒控制器的脆性问题,在系统和控制器增益存在摄动的情况下仍然保持稳定性和良好的性能指标。     

时延不确定离散时间系统的鲁棒跟踪控制

研究一类时延不确定离散时间系统的鲁棒跟踪控制问题．基于线性矩阵不等式(LMI)的控制方法，设计无记忆反馈控制器，构造了适用于时延不确定离散时间系统的Lyapunov函数．通过求解一个LMI便可得到控制器的增益矩阵，从而使系统的状态变量渐近跟踪预先设定的轨迹．仿真示例说明所提出的鲁棒跟踪控制算法是有效的．     

不确定多通道奇异大系统分散鲁棒H∞控制

研究不确定多通道奇异系统的鲁棒分散H_∞控制问题,假定不确定性是时不变、范数有界,且存在于系统和控制输入矩阵中．主要考虑分散H_∞输出反馈控制问题．推导出了使不确定多通道奇异系统能鲁棒稳定且满足一定的性能指标的充分必要条件,没有等式约束的非线性矩阵不等式条件,采用两步同伦法迭代来求解非线性矩阵不等式(NMI),首先,通过逐步对控制器的系数矩阵加上结构限制,计算出当确定性不存在时的标称系统的分散H_∞控制器．然后,逐步改变标称系统分散控制器的系数,计算出不确定性参数存在时的分散鲁棒控制器．在每一阶段,每一次迭代过程中,通过交替固定NMI的一个变量,使NMI转变为线性矩阵不等式(LMI)．数值例子说明了本文提出的方法的有效性．     

带有外干扰的滞后离散广义系统鲁棒H∞控制器设计:LMI方法

研究了带有外部干扰与状态滞后的离散广义系统鲁棒控制器的设计问题. 在对系统进行稳定分析的基础上, 给出了系统可以鲁棒镇定的条件, 并且将这一条件表示为线性矩阵不等式 (LMI)的形式, 从而使得控制器的设计问题可利用现有的LMI方法解决.     

带有外干扰的滞后离散广义系统鲁棒H∞控制器设计:LMI方法

研究了带有外部干扰与状态滞后的离散广义系统鲁棒控制器的设计问题.在对系统进行稳定分析的基础上,给出了系统可以鲁棒镇定的条件,并且将这一条件表示为线性矩阵不等式(LMI)的形式,从而使得控制器的设计问题可利用现有的LMI方法解决.     

线性系统考虑执行器故障的鲁棒控制

针对线性定常系统，提出了考虑执行器故障的鲁棒控制器设计问题。利用更一般、更实际的执行器故障模型，给出了系统输出渐近跟踪参考输入信号的鲁棒控制存在的充分条件。通过求解线性矩阵不等式（LMI）完成状态反馈控制器的设计。数例仿真验证了本文提出设计方法的可行性，并且通过所设计的鲁棒控制系统与不考虑故障控制系统的比较，进一步说明对系统进行鲁棒设计的必要性。     

基于线性矩阵不等式的不确定关联系统的分散鲁棒镇定

应用线性矩阵不等式（LMI）方法研究不确定性关联大系统的分散便棒镇定问题。系统中不稳定项具有数值界,可不满足匹配条件。基于不确定项的表达形式,给出了其可分散状态反馈镇定的充分条件,即一组LMIs有解。在此基础上,通过求第一凸优化问题,提出了具有较小反馈增益的分散稳定化状态反馈控制律的设计方法。仿真示例说明了该方法的有效性和优越性。     

The robust decentralized control of a general servomechanism problem

The decentralized robust control of a completely general servomechanism problem is considered in this paper. Necessary and sufficient conditions, together with a characterization of all decentralized robust controllers which enables asymptotic tracking to occur, independent of disturbances in the plant and perturbations in the plant parameters, and gains of the system, are obtained. A new type of compensator called a decentralized sercocompensator which is quite distinct from an observer is introduced. It is shown that this compensator, which corresponds to an integral controller in classical control theory, must be used in any decentralized servomechanism problem to assure that the controlled system is stabilizable and achieves robust control; in particular, it is shown that a decentralized robust controller of a general servomechanism problem consists of two devices 1) a decentralized servocompensator and 2) a decentralized stabilizing compensator. It is then shown that, under certain mild conditions, there almost always is a solution to the robust decentralized servomechanism problem for any composite system consisting of a number of subsystems interconnected in any arbitrary manner. This last observation has important implications for process control.     

The decentralized control of large flexible space structures

The decentralized robust servomechanism problem with constant disturbances/set points is considered in this paper for large flexible space structures (LFSS). It is shown that for LFSS which have colocated, mutually dual sensors and actuators, the decentralized fixed modes [1] of the system are precisely equal to the centralized fixed modes [2] of the system. Simple necessary and sufficient conditions are then obtained for a solution to exist for the robust decentralized servomechanism problem [3] for the system. A controller is demonstrated which, for this class of LFSS systems, eliminates the "spillover problem." A two-hundreth-order numerical example of an LFSS control problem using the Purdue model [4] is included to illustrate the results.     

基于线性矩阵不等式的分散鲁棒跟踪控制器设计

应用线性矩阵不等式（ＬＭＩ）方法研究不确定性关联大系统的分散鲁棒输出跟踪控制问题。系统中不确定项具有数值界,可不满足匹配条件。基于不确定基项的表达形式,给出了存在分散控制鲁棒跟踪控制器的ＬＭＩ条件。在此基础上,通过建立求解受ＬＭＩｓ约束的凸优化问题,提出了具有较小反馈增益ＬＭＩ设计方法,使受控系统渐近跟踪给定的参考输入。ＬＭＩ方法求解简单,最后用示例说明了该方法的应用。     

The decentralized Markov parameters and the selection of control structures

The properties of the decentralized pole placement map under constant output feedback are investigated and they are linked to known invariants of the decentralized pole assignment problem. A new expression of the differential of this map allows the derivation of relationships between the decentralized Plucker matrix invariant and the Markov parameters and leads to the definition of the Decentralized Markov Parameters (DMP). The matrix associated with the DMPs provides a new simple test for selection of decentralization schemes using as criteria the avoidance of formation of fixed modes and the preconditioning of the decentralized problem to be linearly assignable which excludes also almost fixed modes and it is a necessary condition for solution of the decentralized control problem. The natural link of this test to the Markov parameters and state space parameters of the models provides the means for affecting the shaping of properties of Plucker matrices by design, redesign of the input, and output structure of the system model. The results which are originally presented for the decentralized constant output feedback are subsequently extended to the case of decentralized PI feedback.     

不确定关联大系统的分散鲁棒控制

本文考虑了一类不确定关联大系统的分散鲁棒控制问题，提出了一种采用局部状态反馈的局部最优，全局次优的分散鲁棒控制器设计方法，并用一个数值例子及仿真结果验证了这种方法。     

一类线性离散时滞大系统的分散镇定

用一组线性矩阵不等式给出一类线性离散时滞大系统分散能镇定的一个充分条件,进而,通过建立和求解一个凸优化问题,提出了具有较反馈增益参数的分散稳定化状态反馈控制律的设计方法,所得到的控制器不仅使得闭环境系统是稳定的,而且还可以使得闭环系统状态具有给定的衰减度。     

Output feedback stabilization for delayed large‐scale stochastic systems with markovian jumping parameters

This paper deals with the problem of decentralized output feedback stabilization for a class of large‐scale stochastic time‐delay systems with Markovian jumping parameters. Attention is focused on the design of a decentralized dynamic output feedback controller, which is also with Markovian jumping parameters, such that the closed‐loop system is exponentially mean‐square stable. A sufficient condition for the solvability of this problem is proposed in terms of linear matrix inequalities. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Decentralized global disturbance attenuation for a class of large-scale uncertain nonlinear systems

This paper studies the problem of global robust disturbance attenuation via decentralized state feedback for a class of large-scale nonlinear systems with parameter and interconnection uncertainties. The parameter uncertainty is from a compact set and the uncertain interconnections are bounded by higher-order polynomials of state variables. The problem that we address is to design a robust decentralized controller such that the closed-loop large-scale nonlinear system is input-to-state stable and the L₂ gain from the disturbance input to the controlled output is below a prescribed value for all admissible uncertain parameters and interconnections. A Lyapunov-based recursive design approach is developed to construct the decentralized controller explicitly. As a special case, the problem of almost disturbance decoupling via decentralized state feedback is also solved.