不确定组合系统的分散鲁棒输出跟踪控制

就一类满足匹配条件的含有时变不确定性的大系统，研究了分散鲁棒跟踪控制器的设计问题.笔者利用Riccati 方程方法给出了线性分散控制律，使得不确定的每个子系统都能鲁棒跟踪某一相应的动态参考输入．因为不确定性为时变的不能得到渐近跟踪，但可以借助前馈控制方式使跟踪误差任意小，从而达到实际跟踪的目的．文中的方法简便有效，对状态方程中的时变未知干扰能够很好地抑制，并通过例子加以验证.

Decentralized Robust Output Tracking Control for Uncertain Composite Systems

This paper studies the problem of decentralized robust output tracking control for large-scale uncertain systems.The uncertainties are time-varying and assumed to satisfy the matching conditions for each isolated subsystem.The Riccati equation method is used to design the linear decentralized control law that makes the overall system track some dynamic reference inputs.The tracking error doesn't asymptotically decrease to zero because of the time-varying uncertainties.Instead,the error is bounded.However this bound can be made arbitrarily small by feedforword control.Thus practical tracking is available.The method in this paper is simple and effective.An example is also given to illustrate the result.