基于Internet的网络控制系统H_∞鲁棒控制

Robust H∞ control of networked control systems based on Internet

针对Internet环境下的网络控制系统时延突变大、时变难以估计等特点,利用实际网络时延测量值,建立了网络控制系统的时变多时延状态方程,并应用H∞鲁棒控制理论,通过求解一组线性矩阵不等式,在满足一定性能要求条件下给出了静态状态反馈控制,使得闭环网络控制系统二次稳定并满足相应的性能指标.该控制方法使系统在网络时延、建模误差等干扰下仍保持鲁棒稳定性,并且简单易行,便于工程应用.通过仿真试验比较了在不同时延条件下系统的状态响应曲线,结果表明该方法对时延的不确定性具有较强的适应能力,从而验证了该方法的有效性.

A robust H∞ control method was proposed to deal with the burst and variable delay of networked control systems through Internet. A time-varying multi-delay state equation was set up after testing and analyzing the time delay on Internet. With robust H∞ control theory, through solving a set of linear matrix inequality, a static state feedback approach was applied to the networked control systems through Internet. The method can stabilize the closed-loop system and achieve the desired performance despite uncertain delays in the system, and the stabilization of the system can be kept even if delay and model uncertainties occurred. Simulation experiment for comparing the zero input state response under diverse delay conditions illustrated the adaptability and robustness of the control method. The method has much better control performance than other methods and can be applicable to actual networks.