带前馈的广义不确定系统的脉冲鲁棒控制及其设计

利用矩阵代数方法，研究了带前馈的广义不确定时变系统在输出反馈下的消除系统脉冲行为的鲁棒控制问题。系统不确定量是时变的、范数有界的。根据前馈控制矩耻是非奇异阵（特殊情形）和奇异阵（一般情形）的两种情况，给出了在理想系统满足不同条件下的输出反馈阵的设计方法。当理想系统满足输出反馈能正常化条件时，得到一个重要结论：对任意给定的不确定量范围，都可以设计相应的脉冲鲁棒控制器。在理想系统满足脉冲能控、脉冲能观的情况下，给出了脉冲鲁棒控制的具体设计步骤。

Impulse Robust Output Feedback Controllers and Its Design of Generalized Uncertain System with Feed-Forward Control

The impulse robust control problem of generalizing uncertain time vary systems with feed forward control, via static output feedback, is studied. Uncertainties are time varying, norm bounded. According to the feed forward control matrix being non singular matrix (special case) or being singular (general case), several designing methods of the gain matrix of such controller are put forward for some different conditions satisfied by the ideal system. Furthermore, under the condition that the ideal system is normalizable by output feedback, the impulse robust output controllers are easily designed for any given uncertain norm bound. In the end, a detailed design procedure of such impulse robust controllers is given in the case that the ideal system is impulse controllable and impulse observable.