共查询到20条相似文献,搜索用时 15 毫秒
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R. Pothin 《Systems & Control Letters》2001,43(2):1328
In this paper, the disturbance decoupling problem for a square-invertible nonlinear system is stated and solved by static feedback of measured variables only, in contrast with standard solutions which assume that the full state is available for feedback. The results are valid for left-invertible systems as well. 相似文献
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In this paper, a variable gain design approach for the high-gain disturbance observer, called Proportional-Integral-Observer (PI-Observer), is proposed to solve the problem of choosing suitable observer gains. The high-gain PI-Observer is successfully applied to estimate unknown inputs of systems together with the system states. It is known that reasonable estimations of unknown inputs can only be derived using high observer gains. On the other hand, extremely large gains will cause serious problems with respect to measurements noise and unmodeled dynamics. According to the analysis of the estimation quality regarding to the factors which influence the estimation results, the optimal level of observer gains is changing during the estimation, an online adaption for the observer gains is therefore developed. The designed PI-Observer, called Advanced PI-Observer (API-Observer), will use changing observer gains from the adaption algorithm, which is proved to give stable estimation error dynamics. Simulation results from an elastic beam example are shown to illustrate the implementation of the API-Observer. 相似文献
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Han Ho Choi 《Automatica》2002,38(2):335-341
In this paper, we consider the problem of designing a variable structure output feedback control (VSOFC) law for a class of uncertain systems with mismatched uncertainty in the state matrix. We derive existence conditions of linear sliding surfaces in terms of constrained linear matrix inequalities (LMIs), and we give VSOFC strategies. We also give a simple design procedure and parameterizations of the linear switching surfaces, together with solvability conditions for the given constrained LMIs. Finally, we give a design example in order to show the effectiveness of our method. 相似文献
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Consider a linear system Σ that, apart from a control input and a measurement output, has two exogeneous inputs and two exogenous outputs. Controlling such a system by means of a measurement feedback compensator Σc results in a closed loop system with two inputs and two outputs. Hence, the closed loop transfer matrix can be partitioned as a two by two block matrix.The problem addressed in this paper consists of the following. Given Σ and any positive number ge, is it possible to find Σc such that the off-diagonal blocks of the closed transfer matrix, in a suitable norm, are smaller than ε?For the solvability of this problem necessary and sufficient conditons will be derived. 相似文献
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This paper addresses the optimal disturbance attenuation problem by output feedback for multivariable linear systems with delayed inputs. The attenuation is optimal in the sense that the controller minimizes the maximal amplitude of the plant output in response to such a disturbance. The controller is a general feedback, involving an observer, a state predictor, and a predicted state feedback. The optimal disturbance attenuation problem is formulated in terms of an equivalent system without delay. The optimal bound of the disturbance attenuation is then characterized, and it is shown that the optimal controller tends to have high gains. A necessary and sufficient condition to guarantee the existence of an optimal solution is provided using the geometric approach. 相似文献
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A new decentralized robust control design framework, model reference quantitative feedback design (MRQFD), is developed for the design of the MIMO parametric uncertain control systems. An internal model reference loop is proposed to obtain the achievement of generalized diagonal dominance (GDD) and the reduction of uncertainty in the resultant compensated internal loop system. Based on nonnegative matrix theory, a useful design guide is derived to achieve the GDD condition for the internal model reference loop. Then a sensitivity-based quantitative feedback design (QFD) method is developed and used to solve the resulting series of single-loop QFD problems. The MIMO quantitative specifications are guaranteed to be satisfied by the proposed design framework for largely uncertain systems. A successful application to the design of a robust multivariable controller for the Allison PD-514 aircraft turbine engine is presented to demonstrate the effectiveness of the methodology developed here. 相似文献
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In a digital intermediate frequency (IF) receiver, decimation is performed to reduce the computational complexity and cascaded integrated comb (CIC) filter is used together with the decimation as an anti-aliasing filter. However, the CIC filter generates the roll-off phenomenon in the pass-band, which causes the receiving performance to be considerably degraded due to the distorted pass-band flatness of the receiving filter. In this paper, we propose a design method of the CIC roll-off compensation filter to reduce the performance degradation due to the roll-off characteristics of the CIC filter for a W-CDMA digital IF receiver. The performance of the proposed CIC roll-off compensation filter is confirmed through computer simulation in such a way that bit error rate (BER) is minimized by compensating the roll-off characteristics. In addition, the proposed method can be used in the design of a digital-to-analog (DAC) compensation filter and interpolator in the transmitter. 相似文献
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An adaptive output feedback tracking controller for nonholonomic mobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new adaptive state feedback controller and two high-gain observers to estimate the unknown linear and angular velocities respectively. It is shown that the closed loop adaptive system is stable and the tracking errors are guaranteed to be within the pre-specified bounds which can be arbitrarily small. Simulation results also verify the effectiveness of the proposed scheme. 相似文献
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Yanjun SHEN 《控制理论与应用(英文版)》2010,8(4):447-452
In this paper, by using the well-known high-gain observer design, an update law for the gain and an adaptive estimation of parameters, a new method of fault diagnosis for a class of nonlinear systems is presented. Without resort to any transformation for the parameters, the estimation errors of the states and the parameters are guaranteed to be globally exponentially convergent by a persistent excitation condition. Compared to the existing results, it can be applied to nonlinear systems with nonlinear terms admitting an incremental rate depending on the measured output. A case study further verifies the validity of the proposed research. 相似文献
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Almost disturbance decoupling for a class of nonlinear systems via sampled‐data output feedback control 下载免费PDF全文
This paper addresses the problem of almost disturbance decoupling (ADD) using sampled‐data output feedback control for a class of continuous‐time nonlinear systems. Under a lower‐triangular linear growth condition, a sampled‐data output feedback controller is constructed based on the output feedback domination approach, and a Gronwall–Bellman‐like inequality is established in the presence of disturbances. Even though a sampled‐data controller is employed for easy computer implementation, the proposed controller is still able to achieve ADD under the commonly used continuous‐time requirement, that is, the disturbances' effect on the output is attenuated to an arbitrary degree of accuracy in the L2 gain sense. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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An output-feedback model-reference variable structure controller based on a high-gain observer (HGO) is proposed and analyzed. For single-input-single-output (SISO) linear plants with relative degree greater than one, the control law is generated using the HGO signals only to drive the sign function of the variable structure control component while the sign function gain, also called modulation, as well as the other components of the control signal are generated using signals from state variable filters which do not require high gain and are free of peaking. This scheme achieves global exponential stability with respect to a small residual set and does not generate peaking in the control signal. 相似文献
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Hans Butler 《Control Engineering Practice》2012,20(4):453-464
Acceleration feedback increases the mass of a system as experienced by disturbance forces. A high bandwidth is required to avoid phase lag in the position control loop. This article splits the acceleration controller in a forward and backward path to create the original process behavior for the position controller, removing the high-bandwidth requirement. Digital controller effects, incorporation of plant dynamics, and implications for setpoint feedforward are discussed. The method is implemented in the stage of a lithographic scanner operating at nanometer accuracy in semiconductor manufacturing. It is shown that the low-frequent disturbance rejection is considerably improved without impacting higher-frequency performance. 相似文献
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We present an iterative algorithm to compute the achievable H∞-norm by state feedbak for a standard regular problem and give a characterization when high-gain feedback is necessary to approach the optimal value.
If there is no need for high-gain components to approximate the optimal value, we can reduce the problem to the computation of the H∞-norm of a certain stable transfer matrix. 相似文献
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This paper is concerned with a matrix inequality problem which arises in fixed order output feedback control design. This problem involves finding two symmetric and positive definitive matrices X and Y such that each satisfies a linear matrix inequality and that XY=I. It is well-known that many control problems such as fixed order output feedback stabilization, H∞ control, guaranteed H2 control, and mixed H2/H∞ control can all be converted into the matrix inequality problem above, including static output feedback problems as a special case. We show, however, that this matrix inequality problem is NP-hard. 相似文献
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For a class of high-gain stabilizable multivariable linear infinite-dimensional systems we present an adaptive control law which achieves approximate asymptotic tracking in the sense that the tracking error tends asymptotically to a ball centred at 0 and of arbitrary prescribed radius λ>0. This control strategy, called λ-tracking, combines proportional error feedback with a simple nonlinear adaptation of the feedback gain. It does not involve any parameter estimation algorithms, nor is it based on the internal model principle. The class of reference signals is W1,∞, the Sobolev space of absolutely continuous functions which are bounded and have essentially bounded derivative. The control strategy is robust with respect to output measurement noise in W1,∞ and bounded input disturbances. We apply our results to retarded systems and integrodifferential systems. 相似文献