不确定离散时滞系统的H∞保性能预见控制

针对一类具有凸多面体不确定常参数的离散时间时滞系统，研究其H∞最优保性能预见控制器的设计方法。首先，与以往不同，本文的扩大误差系统仍然保留了时滞，以保证扩大误差系统的状态向量维数不随时滞的增加而增加。其次，针对所构造的扩大误差系统，设计有记忆的状态反馈控制器，并利用线性矩阵不等式方法，导出确保所求控制器存在的条件及该控制器设计的方法。最后，通过建立并求解一个含线性矩阵不等式约束的凸优化问题，给出扩大误差系统的鲁棒H∞保性能控制器，该控制器对于原系统来说就是鲁棒H∞保性能预见控制器。

H∞ guaranteed performance preview control for uncertain discrete systems with time-delay

A design method of H∞ optimal guaranteed performance preview controllers was investigated for a class of polytopic un-certain discrete system with time-delay and constant parameters. First, different from the previous approaches, in order to keep the di-mension of the state vector in the augmented error system from increasing with the addition of time-delay, the time-delay terms were maintained in that system. Then, a memory state feedback controller was designed for the augmented error system. The existence con-dition and the design method of the controller were obtained by the linear matrix inequality ( LMI) method. At last, by solving an opti-mization problem with LMI constraint conditions, the H∞ optimal guaranteed performance controller, which was the H∞ guaranteed per-formance preview controller to the original system, was gained.