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1、HighPerformanceControlT.T.Tay1I.M.Y.Mareels2J.B.Moore319971.DepartmentofElectricalEngineering,NationalUniversityofSingapore,Sin-gapore.2.DepartmentofElectricalandElectronicEngineering,UniversityofMelbourne,Australia.3.DepartmentofSystemsEngineering,ResearchSchoolofInformationSciences
2、andEngineering,AustralianNationalUniversity,Australia.PrefaceTheengineeringobjectiveofhighperformancecontrolusingthetoolsofoptimalcontroltheory,robustcontroltheory,andadaptivecontroltheoryismoreachiev-ablenowthaneverbefore,andtheneedhasneverbeengreater.Ofcourse,whenweusethetermhighpe
3、rformancecontrolwearethinkingofachievingthisintherealworldwithallitscomplexity,uncertaintyandvariability.Sincewedonotexpecttoalwaysachieveourdesires,amorecompletetitleforthisbookcouldbe“TowardsHighPerformanceControl”.Toillustrateourtask,considerasanexampleadiskdrivetrackingsystemfora
4、portablecomputer.Thebetterthecontrollerperformanceinthepresenceofeccen-tricityuncertaintiesandexternaldisturbances,suchasvibrationswhenoperatedinamovingvehicle,themoretrackscanbeusedonthediskandthemorememoryithas.Manysystemstodayarecontrolsystemlimitedandthequestisforhighperformancei
5、ntherealworld.InourothertextsAndersonandMoore(1989),AndersonandMoore(1979),Elliott,AggounandMoore(1994),HelmkeandMoore(1994)andMareelsandPolderman(1996),theemphasishasbeenonoptimizationtechniques,optimales-timationandcontrol,andadaptivecontrolasseparatetools.Ofcourse,robustnessissues
6、areaddressedintheseseparateapproachestosystemdesign,butthetaskofblendingoptimalcontrolandadaptivecontrolinsuchawaythatthestrengthsofeachisexploitedtocovertheweaknessoftheotherseemstoustheonlywaytoachievehighperformancecontrolinuncertainandnoisyenvironments.Theconceptsuponwhichwebuild
7、werefirsttestedbyoneofus,JohnMoore,onhighorderNASAflexiblewingaircraftmodelswithfluttermodeuncertainties.ThiswasatBoeingCommercialAirplaneCompanyinthelate1970s,workingwithDagfinnGangsaas.Theengineeringintuitionseemedtoworksurprisinglywellandindeed180phasemarginsathighgainswasachieved,bu
8、ttherewasash
