Introduction to Robust nonlinear control

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1、Zhong-PingJiangDepartmentofElectrical&ComputerEngineeringPolytechnicInstituteofNewYorkUniversityBrooklynNewYorkUSABrooklyn,NewYork,U.S.A.E-mail:zjiang@poly.eduFall2012@NYUPoly/Dr.Jiang1Z.P.Jiang.Noreproductionpermittedwithoutwrittenpermissionoftheauthor.©老子，公元前571-471企者不立，跨者不行。

2、Fall2012@NYUPoly/Dr.Jiang2RecommendedTextbooksFall2012@NYUPoly/Dr.Jiang3MoreadvancedbooksFall2012@NYUPoly/Dr.Jiang4Whatarethebiggestcontributionsof“Engineering”inthe20thcentury?Controlisallaroundus:Air,land,seaandunderwatervehiclesRobotsCellphonesandtheInternetCD-playerwash

3、erscookersplayer,washers,cookersArtificialheartsOilrefinerOilrefineryetcFall2012@NYUPoly/Dr.Jiang5ApplicationsofControlTechnology•AerospaceEngineering:airplanes,helicopters,spaceshuttles…•AutomotiveEng.:engine&cruisecontrol,emissioncontrol…•Bio-engineering:artificiallimbs,ar

4、tificialhearts…•ChemicalEng.:pulpandpapermaking,oilindustry…•CivilEng.:controlofcivilbuildings,bridges…•ElectricalEng.:amplifiers,motors,communicationssystems•Mechanical&ManufacturingEng.:robots,assemblylines…•NuclearEng.:reactorcontrol•TransportationEng.:airtrafficcontrol,IVHS

5、,TGV…•CommercialSector:microwaveoven,auto-focusingcamera…•Militaryapplications:guidedmissiles,advancedfightervehiclesFall2012@NYUPoly/Dr.Jiang6Whatiscontrol?Useofalgorithmsandfeedbackinengineeredsystems•Trackingareferencesignal•Disturbancerejection•Copyingwithsystemuncerttitiai

6、ntiesNoiseDisturbanceNoiseInputuOutputy+ActuatorSystemSensor+D/AComputerA/DFall2012@NYUPoly/Dr.Jiang7Whatisanonlinearsystem?Whatisanonlinearsystem?Def.1:Anonlinearsystemisasystemthatisnotlinear.Def.2:Itisasystemthatisnotnecessarilylinear.Finite-dimensionalnonlinearsystems:xfxgx

7、u=()+(),xn,umy=hx(),ylFall2012@NYUPoly/Dr.Jiang8Whynonlinearcontrol?•Theworldisnonlinear.•Manyphysicalsystemsarehighlynonlinearandbdaresubjjiecttosignifiificantuncertaiintiies.•Linearfeedbackcontrolisinsufficient.Fall2012@NYUPoly/Dr.Jiang9Example1:NonlinearShipControlFal

8、l2012@NYUPoly/Dr.Jiang10Fall2012@NYUPoly/Dr.Jiang11A