基于LMI技术求解非线性不确定时滞系统的鲁棒控制

研究了一类具有非线性不确定时滞独立系统基于观测器的鲁棒控制器的设计问题,将被控对象由线性不确定时滞系统扩展到非线性不确定时滞系统.在非线性不确定函数增益有界的情况下,通过构造增广系统,利用Lyapunov稳定性定理,获得了该不确定系统存在状态观测器和基于观测器的鲁棒控制器的充分条件.通过求解3个LM I方程,可解得黎卡提方程的解Po,Pc,进而求得状态观测器增益和控制器增益,解决了在利用R iccati方程求解时依赖于参数调整的问题.

Robust Control for a Class of Nonlinear Uncertain Systems with Time-delay by LMI Approach

The design of state observer and observer-based robust control for a class of nonlinear uncertain systems with time-delay was studied.Controlled object was extended to nonlinear time delay system from linear time delay system.Under the condition that gain of the nonlinear uncertain functions were bounded,in light of Lyapunov stability theory,a sufficient condition for the existence of the state observer and observer-based robust controllers for such uncertain systems were obtained by constructing an augmented system.The solution of P_0,P_c of two Riccati equations was conversed into linear matrix inequality(LMI) problem,and then state observer and observer-based robust controller were obtained,and solve the problem of parameter modulation based on Riccati equation.