一类非仿射系统的鲁棒控制

考虑汽车转向控制中出现的微分包含系统的控制问题。首先用一非仿射不确定系统来描述这一微分包含系统，基于耗散理论分析了这一类非仿射不确定系统的鲁棒控制问题。并针对该非线性系统的有界性，给定系统鲁棒稳定的充分条件是满足一线性矩阵不等式，最后给出了一个仿真计算实例以验证算法的有效性。

Robust Control for One Class of Non-affine Systems

This paper deals with control problem for the differential inclusion system, which is needed in designing controller for active steering of vehicle. This differential inclusion system is described by a non-affine system with uncertainty. Based on the dissipation inequality, the robust control for such a non-affine uncertain system is analysed. Under the assumption of the system with a bounded nonlinear, a sufficient condition is obtained as a linear matrix inequality which guarantees the closed loop system robust stable. Finally, the simulation example demonstrates the method proposed is effective.