摘要
本文提出使用降维观测器来设计低阶H_∞控制器的方法。对于具有输出反馈的H_∞控制问题,可以转换成使用降维观测器的H_∞控制问题。通过直接求解状态空间方程,能够获得使用降维观测器的H_∞控制器,其存在的充分与必要条件是两个Riccati方程分别存在唯一的稳定化半正定解。降维观测器的输出是控制对象在最坏扰动作用下的状态估计值。另外,使用降维观测器的H_∞控制问题可以转换成模型匹配问题,并利用相应的结果获得低阶H_∞控制器。
This paper proposes the methods of designing low-order H_∞ controller
using reduced-order observer. In this paper, H_∞ control problem with output
feedbaek is transferred to H_∞ control problem using reduced-order observer. An
H_∞ controller using reduced-order observer is obtained by solving the state
space equations directly. The necessary and sufficient condition for the existence
of the controller is that the unique stabilizing solutions to two Riccati equa-
tions are positive semidefinite. The output of the observer is the state estimate
of the plant in the presence of the worst disturbance. In addition, it is shown
that H_∞ control problem using reduced-order observer can be transferred to
model matching problem and H_∞ controller can be obtainted by the use of the
results of model matching problem.
关键词
观测器
设计
控制器
H∞控制器
H_∞ control problem
state feedback
output feedback
reduced-order observer
model matching problem
