一类非自衡加纯滞后系统的双预测P I 控制

提出了一类基于非自衡加大纯滞后过程的双预测PI控制器的结构形式，这种控制器结构筒单，可调参数少，参数的调节方便、直观，仿真结果表明：在干扰和模型失配的情况下，此类控制器仍具有良好的控制性能和鲁棒稳定性，是一种值得在实际工程中推广应用的新型控制器。     

积分加纯滞后系统的双预测PI控制及其应用

Smith预估控制器控制积分加大纯滞后过程时,鲁棒稳定性差,输出存在静态余差,无实际应用价值.提出了一类基于该过程的双预测PI控制器:具有内环和外环两种预测PI控制器.内环将系统稳定,外环消除输入干扰的影响和改善控制系统的动态性能.这种控制器结构简单,可调参数少,参数的调节方便、直观.仿真和实际应用表明:在干扰和模型失配的情况下,此类控制器仍然具有良好的控制性能和鲁棒稳定性能,是一种值得在实际工程中推广应用的新型控制器.     

几种不稳定滞后对象的预测PID 控制

针对几种不稳定滞后过程，给出一种预测PID控制器的结构形式．该控制器具有内环和外环两种控制器：内环控制器主要用于稳定系统；外环控制器具有预测PID控制的结构形式，主要用于消除输入干扰的影响和改善控制系统的动态性能．这种控制器结构简单，可调参数少，且参数的调节方便、直观．仿真结果表明，在干扰和模型失配的情况下，此类预测PID控制器仍具有良好的控制性能和鲁棒稳定性能．     

Enhanced design of cascade control systems for unstable processes with time delay

In this paper, optimal H₂ internal model controller (IMC) is designed for control of unstable cascade processes with time delays. The proposed control structure consists of two controllers in which inner loop controller (secondary controller) is designed using IMC principles. The primary controller (master controller) is designed as a proportional-integral-derivative (PID) in series with a lead-lag filter based on IMC scheme using optimal H₂ minimisation. Selection of tuning parameter is important in any IMC based design and in the present work, maximum sensitivity is used for systematic selection of the primary loop tuning parameter. Simulation studies have been carried out on various unstable cascade processes. The present method provides significant improvement when compared to the recently reported methods in the literature particularly for disturbance rejection. The present method also provides robust closed loop performances for large uncertainties in the process parameters. Quantitative comparison has been carried out by considering integral of absolute error (IAE) and total variation (TV) as performance indices.     

Two-step output feedback predictive control for Hammerstein systems with networked-induced time delays

This paper is mainly concerned with the design problem of two-step model predictive control (MPC) for nonlinear systems represented by Hammerstein model, where the network-induced time delays exist between sensor to controller (S2C) and controller to actuator (C2A) links. We assume that the system state is not measurable, so the state observer is employed to estimate the state. The intermediate variable for the linear part of the system is calculated by minimising the quadratic performance function. The time-delay compensation algorithm of two-step output feedback predictive control (TSOFPC) for Hammerstein systems is presented and validated by a numerical example.     

State predictive model following control system for linear time delays

In this paper, we propose a new state predictive model following control system （MFCS）. The considered system has linear time delays. With the MFCS method, we obtain a simple input control law. The bounded property of the internal states for the control is given and the utility of this control design is guaranteed. Finally, an example is given to illustrate the effectiveness of the proposed method.     

Bifurcation control of small‐world networks with delays VIA PID controller

In this paper, the problem of bifurcation control for a small‐world network model with time delay is studied. We first put forward a Proportional‐Integral‐Derivative (PID) feedback scheme to control the Hopf bifurcation of the network. The time delay is selected as the bifurcation parameter. The conditions of the stability and Hopf bifurcation are given for the controlled network. By using the center manifold theorem and the normal form theory, the direction and stability of bifurcating periodic solutions are confirmed. The feasible region of the parameters of the controller is determined. It is found that the bifurcation dynamics of the small‐world network are optimized by adjusting the parameters of the PID controller. Finally, a numerical example verifies the effectiveness of the designed PID controller, and the relationships between the onset of the Hopf bifurcation and the control parameters are obtained.     

Robust model predictive control of integrating time delay processes

This work focuses on the solution to the problem of model predictive control of time delay processes with both integrating and stable modes and model uncertainty. The controller is developed for the practical case of zone control and input target tracking. The method is based on a state-space model that is equivalent to the analytical form of the step response model corresponding to the system transfer function. Here, this model is extended to the time delay system. The proposed controller is evaluated through simulation of the of two control reactor systems and the results confirms the robustness of the proposed approach.     

积分时滞过程的数字P I D 控制

对积分时滞过程提出一种数字PID控制结构，通过一个内部反馈回路对积分时滞过程进行预稳定控制，并给出数字PI控制器的设计算法，仿真结果显示该控制结构具有良好的设定值跟踪特性，并且对时滞偏差具有很强的鲁棒性能，最后简要讨论了抗负载干扰的控制结构。     

IMC design for unstable processes with time delays

A modified IMC structure is proposed for unstable processes with time delays. The structure extends the standard IMC structure for stable processes to unstable processes and controllers do not have to be converted to conventional ones for implementation. An advantage of the structure is that setpoint tracking and disturbance rejection can be designed separately. A method is proposed to tune the modified IMC structure with an emphasis on the robustness of the structure. Design for some typical delayed unstable processes shows that the control structure can be tuned easily and achieve good tradeoff between time-domain performance and robustness.     

Robust switched predictive control for multi-phase batch processes with uncertainties and unknown disturbances

A robust switched predictive control method is designed to deal with the multi-phase batch processes with the inevitable uncertainties, time-varying delay and unknown disturbances. Firstly, the output tracking errors are augmented into the state variables and then the improved robust switched predictive control law is established using the new augmented state variables. To this end, the novel switched system is built to represent the different phases of multi-phase batch processes. Secondly, making full use of the robust predictive control theory, Lyapunov function theory, switched system theory, linear matrix inequality (LMI) theory and mode-dependent average dwell time method, the sufficient conditions in terms of LMI constraints are derived to ensure that the switching system is asymptotically controllable and stable. During the process of derivation, based on the traditional performance indicators, the H-infinite performance index is introduced, so that the system in different phases can still operate stably under the uncertainty and external interference. The average dwell time and the control law gain of each phase are thus calculated by solving these LMI constrains. Ultimately, the simulation results on the injection molding process show that the proposed method can make the controlled system run stably.     

面向网络诱导时延和数据包丢失补偿的网络化广义预测控制

针对网络化控制系统中存在的网络诱导时延和数据包丢失, 考虑了网络化广义预测控制问题. 基于多个数据打包传送的通讯方式以及网络诱导时延和数据包丢失预先可知的假设, 提出了一种采用最小预测步长和预测控制增量向量分别补偿网络诱导时延和数据包丢失对系统性能影响的新方法, 给出了相应的网络化模型预测算法和网络化滚动优化算法, 对于被控对象参数未知或缓慢变化的情况, 给出了基于递推最小二乘辨识改进算法的网络化反馈修正算法, 通过仿真验证了所提出网络化算法的有效性.     

基于T-S 模型的模糊预测控制研究

提出一种基于T—S模型的模糊预测控制策略．利用模糊聚类算法高线辨识T—S模型，采用带遗忘因子的递推最小二乘法进行模型参数的选择性在线学习；对模糊模型在每一采样点进行线性化，将T—S模型表示的非线性系统转化为线性时变状态空间模型，并将约束非线性优化问题转化为线性二次规划问题，解决了非线性预测控制中如何获得非线性模型和非线性优化在线求解的难题．将预测域内的线性模型序列作为预测模型，减小了模型误差，提高了控制性能．pH中和过程的仿真验证了该方法的有效性．     

典型时滞时变过程的鲁棒数字双PI 控制

针对具有时滞时变以及负载干扰等复杂特性的时滞系统，在强时滞鲁棒数字PID控制方法的基础上，结合二自由度的IMC结构，给出一种数字双PI调节器的设计，在已知闭环系统时滞时变范围内，对确定性定值负载干扰的影响实现了无静差鲁棒调节控制。     

Adaptive finite‐time control for bilateral teleoperation systems with jittering time delays

In this paper, we present a robust adaptive control algorithm for a class of bilateral teleoperation systems with system uncertainties and jittering time delays. The remarkable feature of jittering delays is that time delays change sharply and randomly. Conventional controllers would fail because jittering time delays introduce serious chattering. To address the jittering issue, a novel jittering‐free scheme is developed by relaxing and extending the frequently used constant upper bound. Moreover, an adaptive law was incorporated with the Chebyshev neural network to deal with the system uncertainties. To obtain finite‐time synchronization performance, a fast terminal sliding mode controller is proposed through the technique of “adding a power integrator.” With the proposed control scheme, the robust finite‐time convergence performance is guaranteed. The settling time can be further calculated with the controller parameters. The simulation and experiment results have demonstrated the effectiveness of the proposed method.     

多阶段间歇过程鲁棒模糊预测异步切换控制EI北大核心CSCD

本文针对非线性多阶段间歇过程在切换瞬间存在异步切换的问题,提出了一种鲁棒模糊预测异步切换控制方法.该方法将非线性多阶段间歇过程表示为同步子系统和异步子系统的等效闭环扩展Takagi-Sugeno模糊模型,在此基础上给出了确保每个批次指数稳定和每个阶段渐近稳定的,基于线性矩阵不等式的稳定性条件以及不同情况运行时间的计算方法.根据运行时间采用超前切换思想,避免异步切换情况的出现,保证系统的稳定运行.仿真案例表明所设计的控制器是有效的和可行的.     

Decentralized tracking control for linear uncertain interconnected systems with time delays

This paper investigates the robust output tracking problem for a class of large‐scale linear uncertain systems with interactions and time delays. Time delays exist in both states and controls. Using the Riccati equation, a procedure for determining decentralized linear control laws is presented such that the closed‐loop system asymptotically tracks the reference output and rejects any constant but unknown disturbances. The main feature of this approach is that the uncertain systems may contain time delays in both states and controls as well as in interactions between subsystems. A numerical example is included to show the results. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

基于模糊PI的永磁同步电机矢量控制

针对永磁同步电机矢量控制系统中,传统PID控制器对永磁同步电机控制性能效率不高以及对工作环境变化的适应性能不良等问题,首先,在两相旋转坐标系下采取双轴理论建立永磁同步电机数学模型;接着,采用模糊控制理论对永磁同步电机矢量控制系统中转速环传统的普通PID控制器进行改进研究,深入地从理论层次研究分析建立得到模糊PI控制器....