状态反馈预测控制干扰解耦的研究

讨论状态反馈预测控制系统设计中的干扰解耦设计问题，给出了状态反馈预测控制系统干扰可解耦设计的充分必要条件。基于状态空间模型，给出了状态反馈预测控制系统设计参数——预测时域按干扰解耦设计的选取方法。它可改善控制系统的性能，提高控制系统的抗干扰能力。仿真结果表明了状态反馈预测控制系统干扰解耦设计的有效性。     

干扰解耦问题

本文在文献[1]的基础上,讨论了一般系统的干扰解耦问题,给出了系统干扰解耦问题有 解的充分必要条件及实现干扰解耦所需的反馈阵的解法.     

控制系统输出至x的输出反馈解耦——积分型解耦的对偶性

针对状态反馈加前置比例补偿对系统进行解耦的充分必要条件及积分型解耦方法，提出了采用输出至Ｘ的输出反馈加本文定义的环内后置比例补偿对系统进行解耦的充分必要条件积分型解耦方法。克服了状态反馈在许多时候要设计观测器；避免了对部分系统进行对角优势解耦，具有一定的理论和实用价值。     

周期多频采样系统的干扰解耦

研究了利用同步控制器解决周期多频采样系统的干扰解耦问题。为此,首先提出多反馈受控不变子空间的概念,并给出其基本性质,基于这一框架,得到周期多频采样系统干扰解耦问题易验证的可解条件,并利用参数化方法刻划了解耦反馈集合。     

相关元的L正交性和状态反馈解耦

利用相关元的Ｌ正交性给出一个状态反馈解耦的充要条件和解耦状态反馈的算法,解决了文献［１］中解耦状态反馈难求解的问题。算例表明所给条件和算法是方便可行的。     

深海集矿机集矿装置高度去耦控制研究

深海集矿机作业过程中，通过液压系统驱动的集矿装置来采集多金属结核。该文研1究了集矿装置的高度在行走中受车体姿态的影响，分析了集矿装置高度和车体姿态之间的耦合机理，根据耦合对象的特性，对集矿装置和集矿参数进行解耦优化，并采用MATLAB中的Simulink工具箱进行了仿真。仿真结果证明了该解耦优化算法与液压系统滞后性相匹配，使集矿装置达到了最佳的集矿效率和使集矿机行走稳定。     

DSP芯片TMS320LF2407在感应电机控制中的应用

本文提出了一种基于微分几何中反馈线性化方法的变结构控制算法，它在用于对间接磁场定向下的感应电动机速度和磁通实现精确解耦的同时，还具备对电动机参数变化的鲁棒性。基于DSP的仿真实验结果证明了控制策略的有效性。     

多变量时滞过程的解耦控制设计

针对化工生产中常见的多输入多输出时滞过程,基于单位反馈闭环控制结构提出一种新的解析设计解耦控制器矩阵的方法.其突出优点是克服现有的数值化求解方法的局限,能够实现标称系统输出响应之间的显著乃至完全解耦,并且能够在线以单调方式整定解耦控制器矩阵的可调参数来适应被控过程的未建模动态.同时,对于实际中常见的被控过程的加性和乘性不确定性,分析了控制系统保证鲁棒稳定性的充要条件,从而给出在线整定解耦控制器矩阵的可调参数的规则.最后以仿真实例验证了本文方法的优越性.     

线性系统的不相关解耦*

本文讨论线性系统的输入-输出块解耦问题。首先证明一个关于相容(A, B)-不变子空间族的定理，再利用它证明不相关解耦的充要条件。然后，给出解耦算法。最后证明，由算法得到的解耦形式是一种标准形式。     

扩张与强相容缺省集

本文对一般形式的缺省理论进行了讨论，通过引入强相容缺省集概念，获得了缺省理论扩张存在的充分必要条件等重要结果，结果表明，缺省理论的扩张问题可以依据缺省集本身与初始公理作出判断，而不需要依赖于事先给定的闭公式集，最后，我们给出一实例，以示强相容集的构造方法。     

Parameterization of decoupling control laws for affine nonlinearsystems

The problem of parameterizing all the decoupling feedbacks is investigated and applied to the design of a stable noninteracting control for affine nonlinear systems. An algebraic study of controlled invariance is presented. It covers a new criterion for controlled invariance, parameterization and novel properties of the friend set, and computational aspects of the maximal controlled invariant distribution. This analysis is used to derive Falb-Wolovich-like conditions for general decoupling (including disturbance decoupling and noninteracting control) problems. It is shown that to determine all the decoupling feedbacks one usually needs infinitely many (sets of) controlled invariant or controllability distributions that can arise as solutions to the problems. It is also shown that under certain conditions, stable noninteracting design based on first parameterizing the decoupling feedbacks is still a feasible approach in the sense that a feedback can be chosen from the friend set of the maximal solution for the exponentially stable and noninteracting design problem     

局部具有指数稳定性的干扰解耦问题

本文研究了含于输出映射的核空间中最大受控不变分布里不含非零能控性分布的非线性系统性质,提出了包含干扰的最小受控不变分布的概念并用之解决这类系统局部具有指数稳定性的干扰解耦问题,得到充分必要的条件,并对一般的非线性系统作了推广。     

On the robust controlled invariant

The robust controlled invariant is defined as a tool to characterize systems subject to parameter changes and to set up a geometric approach to robustness in the large in multi-variable control problems. As a typical application, the robust disturbance decoupling problem, an extended version of the well-known disturbance decoupling, is presented and a necessary and sufficient condition for it to have a solution is derived.     

Robust model predictive control of constrained linear systems with bounded disturbances

This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the ‘origin’ when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.     

Towards geometric control of max-plus linear systems with applications to queueing networks

The max-plus linear systems have been studied for almost three decades, however, a well-established system theory on such specific systems is still an on-going research. The geometric control theory in particular was proposed as the future direction for max-plus linear systems by Cohen et al. [Cohen, G., Gaubert, S. and Quadrat, J.P. (1999), ‘Max-plus Algebra and System Theory: Where we are and Where to Go Now’, Annual Reviews in Control, 23, 207--219]. This article generalises R.E. Kalman's abstract realisation theory for traditional linear systems over fields to max-plus linear systems. The new generalised version of Kalman's abstract realisation theory not only provides a more concrete state space representation other than just a ‘set-theoretic’ representation for the canonical realisation of a transfer function, but also leads to the computational methods for the controlled invariant semimodules in the kernel and the equivalence kernel of the output map. These controlled invariant semimodules play key roles in the standard geometric control problems, such as disturbance decoupling problem and block decoupling problem. A queueing network is used to illustrate the main results in this article.     

借助Lyapunov方法的量子系统平衡态的布居控制

This paper studies the population control problem associated with the equilibrium states of mixed-state quantum systems by using a Lyapunov function with degrees of freedom. The control laws are designed by ensuring the monotonicity of the Lyapunov function; main results on the largest invariant set in the sense of LaSalle are given; and the strict expression of any state in the largest invariant set is normally deduced in the framework of Bloch vectors. By analyzing the obtained largest invariant set and the Lyapunov function itself, this paper also discusses the determination problem of the degrees of freedom. Numerical simulation experiments on a three-level system show the validity of research results.     

基于双隐层DRNN的自整定PID解耦控制

随着科学技术的不断进步和发展,被控对象正变得越来越复杂,而人们对其控制精度的要求却日益提高,这样就产生了复杂性和精确性的尖锐矛盾。智能自适应控制是解决上述问题的有效方法之一。该文针对强耦合带延时多输人输出(MIMO)非线性离散系统难以实现解耦的问题,推导了双隐层DRNN的权值学习算法,实现了基于双隐层DRNN结构与动态BP网络的加速算法的在线自整定PID解耦控制,仿真表明该方案具有良好的动态、静态性能以及很强的自适应性。     

Invertibility of affine nonlinear control systems: a geometric approach

The paper deals with the invertibility of multivariable non-linear control systems. By using the recently developed theory on controlled invariant and controllability distributions necessary and sufficient conditions for invertibility are derived.     

Computation of maximal safe sets for switching systems

The problem of determining maximal safe sets and hybrid controllers is computationally intractable because of the mathematical generality of hybrid system models. Given the practical and theoretical relevance of the problem, finding implementable procedures that could at least approximate the maximal safe set is important. To this end, we begin by restricting our attention to a special class of hybrid systems: switching systems. We exploit the structural properties of the graph describing the discrete part of a switching system to develop an efficient procedure for the computation of the safe set. This procedure requires the computation of a maximal controlled invariant set. We then restrict our attention to linear discrete-time systems for which there is a wealth of results available in the literature for the determination of maximal controlled invariant sets. However, even for this class of systems, the computation may not converge in a finite number of steps. We then propose to compute inner approximations that are controlled invariant and for which a procedure that terminates in a finite number of steps can be obtained. A tight bound on the error can be given by comparing the inner approximation with the classical outer approximation of the maximal controlled invariant set. Our procedure is applied to the idle-speed regulation problem in engine control to demonstrate its efficiency.