一类非线性系统的监督控制

在监督控制方案下实现了一类非线性系统的输出调节，过程是全局Lipschitz的严格反馈形系统，含有不确定的定常参数，假设参数属于一个已知的、由有了个元素组成的集合、控制方案可分成控制器组和监督器两部分。根据参数的先验知识，用反传方法设计确定性等价的控制器，组成候选控制器组、监督器对参数进行在线辨识，实现控制器之间的切换，最终将过程的输出调节到零。

Supervisory Control of a Class of Nonlinear System

The paper implemented the output regulation of a class of nonlinear systems under a supervisory control scheme. The process is a strict feedback structure system with uncertain constant parameters. Assume that the parameters belong to a known set that consists of finite number of elementes. The control scheme can be separated into two parts, a supervisor and a group of controllers. By virtue of the prior knowledge about the parameters, this paper designs certainty equivalent controllers using the backstepping technique, which compose the group of controllers. The supervisor identifies the parameters of process in real time to choose the controller that will be switched into the feedback loop. At the end, it is proved that the output of process is regulated to zero.