非最小相MIMO非线性系统的自适应鲁棒控制

针对一类非最小相不确定非线性系统，提出了一种自适应鲁棒控制器．首先，通过等价坐标变换将该非线性系统变换为零动态稳定的等价系统．然后利用鲁棒无源原理和李亚普诺夫原理对等价系统设计出自适应鲁棒控制器，并证明闭环等价系统是渐近稳定的．最后利用本文提出的方法进行实例设计，结果表明，它是稳定这类非最小相非线性系统的新方法．

Adaptive Robust Control of MIMO Nonlinear System with Non-minimum Phase

An adaptive robust controller is presented for a non-minimum phase uncertain nonlinear system.Firstly,the nonlinear system is transformed with an equivalent coordinate transformation into an equivalent system which has stable zero-dynamics.Then,an adaptive robust controller is designed for the equivalent system,and asymptotic stability of the closed-loop system is proved with robust-passive principle and Lyapunov theory.Finally,an example is designed with the presented method,and the result shows that the p...