基于啤酒发酵过程的时变轨迹输出反馈鲁棒模糊预测控制

考虑到实际生产中状态不易测量和设定值变化的情况以及系统本身的非线性特性，针对啤酒发酵过程温度控制系统提出了一种时变轨迹下输出反馈鲁棒模糊预测控制方法。在啤酒发酵罐温度系统的机理模型的基础上，建立包括不确定性和未知干扰的状态空间模型；通过设计模糊集，建立为具有加权系数的T-S模糊状态空间模型；并在状态变量的中引入输出跟踪误差，建立新型多自由度状态空间模型；并运用鲁棒模型预测控制方法优化参数不确定性问题，结合李雅普诺夫稳定性理论推导出线性矩阵不等式形式的稳定性条件，通过求解线性矩阵不等式中参数来计算对应子模型控制律，并对所设计的输出反馈控制器给定权值。通过仿真结果验证了提出方法的有效性和可行性。

Output Feedback Robust Fuzzy Predictive Control for Beer Fermentation Process on Time-varying Trajectory

Considering the fact that the state is difficult to measure and the set value changes in actual production, as well as the nonlinear characteristics of the system itself, a robust fuzzy predictive control method with output feedback under a time-varying trajectory is proposed for the temperature control system of the beer fermentation process. Based on the mechanism model of the beer fermenter temperature system, a state-space model including uncertainty and unknown disturbances is established. The T-S fuzzy state space model with weighted coefficients is established by designing fuzzy sets. The output tracking error is introduced into the state variable to establish a new multi degree of freedom state space model. The robust model predictive control method is used to optimize the problem of parameter uncertainty, and the stability conditions in the form of linear matrix inequality are derived based on the Lyapunov stability theory. The corresponding submodel control law is calculated by solving the parameters in the linear matrix inequality, and the weight value of the designed output feedback controller is given. The simulation results verify the effectiveness and feasibility of the proposed method.