基于增益协调方法的非线性控制器设计

为了寻求结构简单、易于进行稳定性分析的非线性控制器的设计方法，提出一种基于增益协调的非线性控制器设计方法理论。该控制器可以逼近很多复杂的非线性控制器，并具有相同的控制效果。该方法与模糊控制器的控制效果进行比较，说明了基于增益协调的非线性控制器简单、易于实现，同时更具便于调节的优点。同时基于李亚普诺夫稳定性理论，对例题中设计出的增益协调控制器的稳定性给予证明。结合桌飞控系统舵机控制实例，说明了该方法的实用性。

Design of Nonlinear Controllers Based on Gain Scheduling Technique

In order to find design methods for nonlinear controller with simple structure and being easy to anaylse stability,a kind of nonlinear controller design approach based on the gain scheduling technique is presented.The designed nonlinear controller can approximate many complicated nonlinear controllers,and obtain the same control effect.Comparing with fuzzy controller,design course of the proposed approach is simpler and is easy to realize,in addition it can be adjusted flexibly.The stability analysis of the proposed method is given based on Lyapunov stability theory.An example of rudder-control of flight control system illustrates the practicability of the proposed method.