参数不确定性系统的鲁棒控制器数字化再设计研究

Research on digital redesign of the robust controller for parametric uncertain systems

针对一类参数不确定性系统离散控制器设计问题,给出其近似离散化模型的推导过程,将采样周期作为系统参数,保证扰动和参数变化下系统模型的相容性性质。利用数字化再设计方法,把离散控制器和连续控制器的全局状态匹配转换为凸优化问题,与控制器鲁棒稳定性条件统一到线性矩阵不等式框架下进行数值求解。仿真实例验证了所提方法的有效性,表明所设计的鲁棒控制器性能优于采用常规离散化方法所设计的控制器。

Aiming at a class of parametric uncertain systems, the derivation of the approximate discrete model is presented, and the sampling period is taken as the system parameter to ensure the system compatibility of the nature model under the disturbance and parameter change. By using the digitial redesign method, the global state matching of both discrete controller and continuous controller is converted to the convex optimiza- tion problem, and the controller robust stability is unified under the framework of linear matrix inequalities to be solved numerically. A simulation example shows that the proposed method is feasible and the performance of the robust controller is better than the traditional discrete methods.