基于鲁棒右互质分解的一类非线性系统的简易鲁棒控制

Simplified Robust Control for A Nonlinear System Based on Robust Right Coprime Factorization

讨论了一类非线性系统的鲁棒控制问题。对于算子描述的一类存在建模不确定性的非线性系统,从讨论控制器B的unimodular特性以及名义系统的稳定性AN+BD=I入手,将其设计为线性控制器,进而保证了系统的鲁棒稳定性,并且以数值例子表明了所给方法的有效性,即简易的控制器设计保证了非线性不确定系统的鲁棒稳定性。

The robust control for a nonlinear system with uncertainties is considered by using robust right coprime factorization method. In details, on the operator-based non- linear system with unmodeled uncertainties, considering the unimodular property of con- troller B and the satisfaction of the Bezout identity AN＋BD=I for the nominal system, the controller B is designed to be linear so that the robust stability of the nonlinear un- certain systems is guaranteed. The numerical example confirms the effectiveness of the proposed method, namely, the robustness of the nonlinear uncertain system is guaran- teed by the proposed simplified design scheme.