一类非线性系统的控制器和观测器设计

Controller and observer design for a class of nonlinear systems

研究一类非线性系统的全状态反馈控制问题、观测器设计问题及输出反馈控制设计问题.首先设计出非线性全状态反馈控制器,获得了系统指数镇定的充分条件.然后提出了非线性观测器,并证明了该观测器是指数稳定观测器.进一步,在控制器和观测器问题的充分条件满足的假设下,证明了提出的带估计状态的反馈控制能达到指数镇定.最后,仿真实例验证了所得结果的有效性.

This paper considers the full-state feedback control problem,the observer design problem and the output feedback control problem for a class of nonlinear systems.First,a linear full-state feedback controller is designed and a sufficient condition is derived,under which the exponential stabilization is achieved.Second,a nonlinear observer is proposed and it is shown to be an exponentially stable observer.Furthermore,given that the sufficient conditions of the controller and observer problem are satisfied,it is shown that the proposed controller with estimated state feedback from the proposed observer will achieve the exponential stabilization.Finally,a simulation example is given to verify the effectiveness of the obtained results.