带有干扰的非线性系统的无源化控制(英文)

Passivation Control of Nonlinear Systems with Disturbances 

本文提出并考察一类带有干扰的非线性系统的无源化控制问题，即构造反馈控制器使得相应的闭环系统无源且保持内部稳定．本文给出了在此馈通项下系统无源的一个充分必要条件．另外，针对两类特殊情形下的无源控制，应用Ｌｙａｐｕｎｏｖ 递归方法得到了解决该问题的一个条件；特别利用控制Ｌｙａｐｕｎｏｖ 函数。

This paper proposes and investigates the passivation control problem for a class of nonlinear systems with disturbance, that is, to construct a feedback control law such that the corresponding closed loop system is internally stable and passive. A necessary and sufficient condition of paassivation is given with feedthrough term. In addition, two special cases of the passivition problem are discussed using Lyapunov recursive design techniques. Then, more general case is solved via control Lyapunov function.