线性时不变系统的切换控制器设计及H2性能实现

Switching controller design for a specific linear time invariant plant and H2 performance realisation

在复杂的控制系统中,使用单一的线性时不变(linear time invariant, LTI)控制器不能有效地处理对象的动态变化或者满足系统更多的性能要求,基于此本文主要针对于一个LTI对象设计一个切换控制器,该切换控制器包含多个预先且独立设计的LTI控制器,所有的这些LTI控制器都能够使闭环系统稳定且满足相应H2控制性能准则.基于本文提出的H2性能状态空间实现方法,设计的切换控制器不仅可以保证在任意切换的情况下整个闭环系统满足某一H2性能,而且可以保证局部子系统的切换点满足相应的H2性能,仿真结果验证了方法的有效性.

The use of single linear time invariant (LTI) controller can’t address dynamic changes of the plant or satisfy more performance requirements of the system efficiently in complex control systems. Therefore, a switching controller is designed for the LTI plant in the paper, which includes several LTI controllers designed beforehand and independently that can make the closed-loop system stable and satisfy corresponding H2 control performance criteria. The switching controller, which is designed according to H2 performance state space realization method proposed in this paper, not only can guarantee certain H2 performance of the overall closed-loop system under arbitrary switching, but also guarantee corresponding H2 performance of local subsystems at each switching points. Finally, the effectiveness of proposed method is testified by the simulation results.