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鲁棒线性控制器设计的主要问题是针对对象模型不确定性 ,寻找线性反馈控制器 ,使得不确定控制系统稳定 .针对具有线性、非线性或时变结构的模型不确定性多变量动态系统 ,采用动态补偿器结构与原系统进行增广 ,构成闭环动态近似系统 .根据 Gronwall引理 ,推导出了基于不确定性范数上界的动态线性系统鲁棒稳定的充分条件 .根据该鲁棒稳定条件 ,给出了具体的动态不确定系统的鲁棒性设计算法 .通过选择适当的变换阵 ,利用特征值配置技术求出动态补偿器的参数 ,来满足鲁棒稳定条件 ,使得闭环不确定动态系统稳定 ,从而提出了一种时域内鲁棒线性控制器设计方法——动态补偿器法 .该方法同样适用于控制器为输出反馈的情形 .给出了具体设计实例 ,以验证设计方法的简单性与有效性
The main problem of robust linear controller design is to find the linear feedback controller for the uncertainty of the object model and to stabilize the uncertain control system.For a model uncertain multivariable dynamic system with linear, nonlinear or time-varying structure, Based on the Gronwall lemma, a sufficient condition for the robust stability of a dynamic linear system based on the upper bound of the uncertainty norm is derived. According to the robust stability Condition, the robust design algorithm for a particular dynamic uncertain system is given. By choosing the appropriate transformation matrix and using the eigenvalue configuration technique, the parameters of the dynamic compensator are obtained to satisfy the robust stability conditions and make the closed-loop uncertain dynamics System stability, a robust linear controller design method in the time domain is proposed - the dynamic compensator method.The method is also applicable to the situation that the controller is output feedback.The concrete design example is given to verify the design method is simple Sexuality and effectiveness