非线性鲁棒控制设计原理ppt课件.ppt

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1、IVNonlinearControlDesignTheoryIV.1IntroductionIV.2DiscussionoftheengineeringandphysicalmeaningIV.3DissipativesystemtheoryIV.4DifferentialgameandnonlinearproblemIV.5ConstructionofnonlinearcontrollerIV.6ExampleofnonlinearcontroldesignIV.1IntroductionCo

2、nsiderthenonlinearaffinesystem（1）where:wisdisturbancefromoutside,zisregulationoutput,yismeasuredoutput,uiscontrolinput,xisstatevariable，fg1g2h1h2K12K21aresmoothmappingDiagramofthecontrolsystemucontrollerwyzNonlinearcontrolproblem:Todesignthecontrolle

3、rsuchthat:Theclosed-loopsystemisinnerstable，thatiswhen,thesystemisasymptoticallystableat.(1)Seekforsmallenough,suchthat,toarbitrarytime,wehave(2)note:generalizedcontrolledobjectsIV.2DiscussionoftheengineeringandphysicalmeaningThesystemandcontrolarecl

4、oselyassociatedwitheachother.ThreestepsofcontroldesignforgeneralsystemStep1：constructthemathematicmodelofthecontrolledobjectStep2：determinetheexpectedperformanceindexStep3：designandanalysisthecontrollerWe’lldiscussthenonlinearcontrolproblemfromthreea

5、spectsasbelow:(1)InexactmodelingbasedonuncertaintyIncludingthedisturbancefromoutside,robustmodeling(2)Single-behaviordecisionandmulti-behaviordecisionThenonlinearcontrolproblemisessentiallyequivalenttothetwo-personandzero-sumdifferentialgameproblem.L

6、inearoptimalregulationproblem:solvethematrixinequality(Riccatiinequality).Nonlinearcontrolproblem:solvethefirstorderdifferentialinequality(HJIinequality).Mainobjectiveofnonlinearcontrol——Disturbanceattenuation（1）Theenergyofengineeringsignalsisdescrib

7、edbythenorm（2）Inthecaseofnonlinearproblem，theextendednormisused,thatis:Ifurepresentsthecurrentflowingthrough1Ωresistance,thentheinstantaneouspowerisu2,andthetotalenergyis.Thenormofanengineeringsignalequalsitstotalenergy.（3）Themeaningof（2）Tosomeextend

8、,representstheratebetweentheenergiesoftheinputandoutputsignalsofaclosed-loopsystem.If（2）holds，thenwecansaythattheclosed-loopsystemhasafinitegainlessthanorequalstoTherelationshipbetweennonlinearproblemandlinearproblem.ConsiderthesystemG,whichiscausal,