基于状态观测器的线性不确定系统鲁棒控制器设计.docVIP

摘 要 在对实际控制过程的分析过程中，总有一些未知因素存在，诸如未建模动态，参数不确定性，工作环境的变化，降阶及线性化近似等，也包括外部干扰的不确定性。因此，对扰动控制系统或不确定控制系统的研究就更加符合实际过程。鲁棒控制理论的产生和发展，正是基于这一实际背景的，并逐渐成为控制理论和实际工程控制领域的一个重要研究方向。本文首先介绍鲁棒控制发展与历史以及一些基础知识。研究具有时滞的线性不确定系统的鲁棒稳定性问题利用矢量不等式的方法和Lyapunov稳定性原理给出不确定时滞系统鲁棒稳定的充分条件。本文主要利用Lyapunov稳定性理论，运用线性不等式 (LMI)的方法研究不确定系统的基于状态观测器的鲁棒控制问题。本文研究的主题是基于状态观测器的不确定系统的鲁棒控制，包括线性不确定系统、线性不确定时滞系统在基于状态观测器情况下的鲁棒控制器设计。并利用 LMI给出使系统镇定的控制器存在的充分条件，并用实例验证了所得结论，得到预期要得到的仿真图形，实现其价值。 关键词：状态观测器；不确定性；时滞系统；鲁棒控制；线性矩阵不等式 Abstract Some unknownelements always exist in the analysis process for the control systems,such as unmodeled dynamics,parametric uncertainties,change of the operating envioronment,model reduction and linearization approximations,etc,or external disturbance.So it is significative to study the disturbance process or the uncertain systems.The emergence and the development of the robust control theory were just in such enviorment,and it is becoming an important research field of the control theory and its practice applications.This paper first introduces the development of robust control and introduces some basic historical knowledge. Study of linear uncertain time-delay system robust stability problem of the use of vector Lyapunov inequality and the principle of the stability of uncertain time-delay systems are given a sufficient condition for robust stability. In this paper, the use of Lyapunov stability theory, the use of linear inequality (LMI) method of the uncertain system state observer-based robust control problem. The theme of this paper is based on state observer robust control of uncertain systems, including linear uncertain systems, linear uncertain time-delay systems in state observer based on the robust case controller design. LMI is given using the system controller calm a sufficient condition for the existence of, and examples demonstrate the conclusions have been expected to be the simulation graphics, realized its value. Key words: State observer;uncertainty;delay system;robust control; linea