具有输入时滞的不确定采样系统的鲁棒控制

Robust Control for Uncertain Sampled-Data Systems with Input Delay

针对具有输入时滞的结构不确定采样系统,研究了该类系统基于离散化模型的鲁棒控制器设计问题。通过将采样系统的连续的结构不确定对象离散化得到其近似模型,使具有输入时滞不确定采样系统的鲁棒控制器设计问题转换为讨论具有输入时滞的离散系统的鲁棒稳定性问题。利用Lyapunov函数的构造及解析技巧,给出了基于线性矩阵不等式(LMI)的输入时滞离散系统的鲁棒稳定性条件,并在此基础上将控制器参数化,得到了一个通过求解线性矩阵不等式(LMI)来获得采样系统鲁棒控制器的设计方法,所设计的控制器保证了系统的鲁棒稳定性,对结构摄动有着较好的鲁棒性能。最后,通过数值计算仿真验证了本文方法的可行性。

The problem of robust controller design of uncertain sampled-data system with input delay is proposed in the paper.The method of robust controller design based on the discrete uncertain sampled-data systems model.That is to say,the continuous-time uncertain plant of sampled-data system replaced by pure discrete-time systems.Then the problem of robust controller design of uncertain sampled-data system convert to the robust stability and controller design problem of discrete systems with input delay.Using a special method constructe the Lyapunov function,and based on linear matrix inequality(LMI) to establish the robust stability criterion of sampled-data control systems.Then given the design method of robust controller which based on the criterion.The controller makes sampled-data systems robust stabilization and shows a good robusness for the perturbation of the structure.Finally,a numerical simulation is given to verify the feasibility of this method.