带有干扰的线性时变系统变结构鲁棒控制器

VARIABLE STRUCTURE ROBUST CONTROLLER FOR LINEAR TIME VARYING SYSTEMS WITH DISTURBANCES

对含有未知时变参数和系统干扰的单输入单输出线性时变系统,给出了一种输出跟踪变结构鲁棒控制器设计机制．系统参数只要求光滑有界,没有其它限制条件．通过引入辅助信号和带有记忆功能的正规化信号以及适当选择控制器参数,该变结构控制器能保证闭环系统所有信号有界,跟踪误差能被调整到任意小．

A design scheme of variable structure robust controller with output tracking performance is given for single-input single-output linear time-varying systems with unknown time-varying parameters and system disturbances. The system parameters are only assumed to be smooth and bounded without any other restrictions. By introducing some auxiliary signals and normalized signals with memory functions and appropriate choice of controller parameters, the variable structure robust controller developed guarantees the boundedness of all the signals in the close-loop. The tracking error can be made arbitrarily small.