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在L. H. Keel, R. M. Biernacki等人鲁棒稳定控制领域的基础上,提出了超椭球体稳定域的概念,并利用它设计出了鲁棒控制器。其主要思想是:给定控制器的初始空间,在此空间中寻找最优控制器使得系统的名义模型具有最大超椭球体稳定域。检验其稳定域是否包含系统的摄动域。如满足,则这控制器就是要寻找到鲁棒控制器。否则,扩大控制器的空间,继续上述的寻优过程,直至求得优化鲁棒控制器。
Based on the field of robust stability control of L. H. Keel, R. M. Biernacki, et al., The concept of hyperellipsoid stability domain was proposed and a robust controller was designed. The main idea is: given the initial space of the controller, find the optimal controller in this space so that the nominal model of the system has the maximum hyper-ellipsoid stable domain. Verify that its stability domain contains the system’s perturbation domain. If satisfied, then this controller is to find a robust controller. Otherwise, expand the controller space and continue the optimization process described above until an optimal robust controller is obtained.