不确定系统H_(_infinity)跟踪控制器设计方法研究

Design Method of H_(_infinity) Tracking Controller for Continuous Systems with Uncertain

选取连续时间不确定系统模型为研究对象,系统模型中考虑变量参数不确定性的存在,阐述了一种通过线性矩阵不等式(LMI)手段进行H_(_infinity)跟踪控制器设计的方法.参照H_(_infinity)跟踪控制性能指标为设计依据,利用Lyapunov函数方法对系统进行稳定性分析,设计所得的跟踪控制器存在条件以线性矩阵不等式(LMI)的形式给出,可通过Matlab软件LMI工具箱进行求解.最后,通过一个数值仿真实例证明了设计方法的有效性.

According to the uncertain continuous systems and the variable parameters uncertainty, a H-infinity tracking controller is designed via the linear matrix inequality （LMI） method in this thesis. By using the Lyapunov function method fully, the sufficient condition of the tracking controller is obtained to meet H-infinity performance index via the linear matrix inequality （LMI）. It can be solved by the LMI toolbox of Matlab software. Finally, a numerical experiment shows the validity of the proposed method.