多通道线性系统的Luenberger观测器

本文针对多通道线性系统，给出了Luenberger形式的观测器，讨论了其收敛的条件，利用多通道线性系统特征结构配置理论，给出了设计的方法，并给出了实例和仿真结果。     

Parallel Implementation of the BiCGStab（2） Method in GPU Using CUDA and Matlab for Solution of Linear Systems

This paper presents a parallel implementation of the hybrid BiCGStab（2） （bi-conjugate gradient stabilized） iterative method in a GPU （graphics processing unit） for solution of large and sparse linear systems. This implementation uses the CUDA-Matlab integration, in which the method operations are performed in a GPU core using Matlab built-in functions. The goal is to show that the exploitation of parallelism by using this new technology can provide a significant computational performance. For the validation of the work, we compared the proposed implementation with a BiCGStab（2） sequential and parallelized implementation in the C and CUDA-C languages. The results showed that the proposed implementation is more efficient and can be viable for simulations being carried out with quality and in a timely manner. The gains in computational efficiency were 76x and 6x compared to the implementation in C and CUDA-C, respectively.     

Robust state estimation for uncertain linear systems with deterministic input signals

In this paper, we investigate state estimations of a dynamical system in which not only process and measurement noise, but also parameter uncertainties and deterministic input signals are involved. The sensitivity penalization based robust state estimation is extended to uncertain linear systems with deterministic input signals and parametric uncertainties which may nonlinearly affect a state-space plant model. The form of the derived robust estimator is similar to that of the well-known Kalman filter with a comparable computational complexity. Under a few weak assumptions, it is proved that though the derived state estimator is biased, the bound of estimation errors is finite and the covariance matrix of estimation errors is bounded. Numerical simulations show that the obtained robust filter has relatively nice estimation performances.     

具有椭圆盘极点约束的线性系统滤波器设计

针对一类线性系统,研究其闭环系统极点具有椭圆盘约束的情况下滤波器设计问题。在极点约束的前提下,控制目标要求闭环系统渐近稳定,并且干扰抑制性能指标小于给定的上界。首先利用有界实引理给出椭圆盘极点约束前提下滤波器的存在条件;其次,利用线性矩阵不等式技术,将滤波器的存在性问题转化成一组线性矩阵不等式(LMI)的可行性问题,根据LMI的可行解,给出滤波器的设计方法,由该方法得到的滤波器满足给定的性能要求;最后,数值算例说明该方法的有效性和可行性。     

一种基于线性系统随机共振的弱信号检测方法

从工程中经常碰到的噪声背景下弱信号检测的实际需求出发,提出一种基于线性系统随机共振的弱信号检测方法,与传统的非线性系统随机共振相比,此方法计算量小、检测速度快。采用MATLAB配用的SIMULINK软件,建立线性系统随机共振仿真模拟图,通过调节系统参数或噪声强度,使系统噪声及激励信号达到最佳匹配,从而实现弱信号的检测。仿真结果表明该方法具有可行性。     

线性时滞系统稳定的充分必要条件

提出一个新的线性时滞系统稳定的充分必要条件,与以前的结论不同的是,我们的结论的表达形式更容易数值计算。开发相应的二种收敛算法,解决系统时滞独立稳定判断和时滞相关稳定的时滞界估计。本文给出范数有界不确定性时,系统稳定的充分条件。文末给出的数值实例证明本文结果降低计算复杂度,改进了时滞估计保守性。     

Modeling and robust discrete LQ repetitive control of electrically driven robots

Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.     

基于二维混合模型的改进型重复控制器设计

针对一类线性系统,提出一种基于连续/离散二维混合模型的改进型重复控制系统设计方法.首先,通过分析重复控制系统中独立存在的控制行为和学习行为,建立了连续/离散二维混合模型,并将重复控制设计问题转化为一类连续/离散二维系统的状态反馈控制问题;然后,基于对重复控制过程的分析和二维模型,提出一种新型重复控制系统结构,并将重复控制器的设计问题转化为连续/离散二维混合系统的状态反馈设计问题;最后,应用二维Lyapunov 泛函理论和线性矩阵不等式方法,获得了重复控制器参数求解方法.