共查询到18条相似文献,搜索用时 62 毫秒
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针对一类线性系统,研究了基于H∞的鲁棒PID控制器的设计方法,使得闭环系统的所有极点均位于一个给定的LMI区域中.采用线性矩阵不等式的处理方法,证明了该问题等价于一组线性矩阵不等式的可解性问题.利用该线性矩阵不等式的可行解给出了PID控制器的构造方法,并通过现有的软件Matlab中的工具箱LMI来进行求解.该方法很好地解决了PID控制下的极点指标和H∞鲁棒控制的相容性问题.实际的工程算例验证了该方法的有效性和可行性. 相似文献
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通过δ算子离散化模型,研究了连续时间线性定常随机系统的具有极点配置和稳态方差指标的满意控制问题.利用线性矩阵不等式理论,给出设计满意控制器及优化采样周期的方法.数值算例验证了所提出方法的有效性. 相似文献
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In this note, a simple linear matrix inequality (LMI) design method is proposed for iterative learning control (ILC). The design can ensure a monotonic error decay in 2‐norm. Experimental results on a SCARA robot shows that the design can achieve nearly perfect tracking. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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For a class of linear discrete-time uncertain systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which is comprised of an iterative learning controller and two current iteration feedback controllers. The iterative learning controller is used to improve the performance along the iteration direction and the feedback controllers are used to improve the performance along the time direction. First of all, the uncertain feedback feed-forward ILC system is presented by an uncertain two-dimensional Roesser model system. Then, two robust control schemes are proposed. One can ensure that the feedback feed-forward ILC system is bounded-input bounded-output stable along time direction, and the other can ensure that the feedback feed-forward ILC system is asymptotically stable along time direction. Both schemes can guarantee the system is robust monotonically convergent along the iteration direction. Third, the robust convergent sufficient conditions are given, which contains a linear matrix inequality (LMI). Moreover, the LMI can be used to determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed schemes. 相似文献
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多目标约束下的满意容错控制方法 总被引:2,自引:0,他引:2
对一类不确定性不满足匹配条件的线性系统, 研究了圆域极点指标、H∞指标和H2指标约束下的满意容错控制器的设计问题. 在连续型的执行器故障的模式下, 利用线性矩阵不等式技术, 提出了多目标容错控制性能的相容性判别条件, 分析了与圆域极点指标相容的H∞指标和H2指标的取值范围, 并在相容指标约束下给出了有效的满意容错控制器的设计方法. 对歼击机纵向通道控制系统的仿真结果表明, 本文提出的方法是有效的. 相似文献
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基于LMI的大型互联线性系统的分散有限时间镇定 总被引:1,自引:1,他引:1
借助于有限时间稳定性的定义,针对大型互联线性系统,引入了分散有限时间镇定的概念.对一类大型互联线性系统进行分散状态反馈和分散动态输出反馈控制器设计,利用线性矩阵不等式(LMI)的方法提出一个充分条件,当反馈控制律作用于该系统时,闭环系统是有限时间稳定的.仿真算例说明了所得结论的可行性和有效性. 相似文献
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Koan-Yuh Chang 《International journal of systems science》2013,44(4):739-749
In this article, a multi-objective control u(t) is designed for stochastic model reference systems to achieve the following three objectives simultaneously: the pole placement constraint, H ∞-norm constraint and individual error state variance constraint. Using the invariance property of sliding mode control, the reference model input and the plant error term will disappear on the sliding mode of the error system. By combining the upper bound covariance control theory, pole placement skill and H ∞-norm control theory, a controller, in which the control feedback gain matrix is synthesised utilising linear matrix inequality (LMI) approach, is derived to achieve the above multiple objectives. Furthermore, a practical example for the problem of ship yaw-motion systems is adopted to illustrate the proposed method. 相似文献