基于无源性分析的鲁棒控制系统设计
Passivity-Based Design of Robust Control Systems
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摘要: 给出不确定非线性系统鲁棒控制的一种设计方法.经校正网络将一微分算子传递给 对象后,采用bang-bang控制使余下的部分无源化,并引入适当的符号跟随系统,使直输回路 严格无源.于是全反馈控制系统具有很强的鲁棒性.同时讨论了系统稳定、不稳定、逆不稳定 的各种情况的设计.Abstract: An approach for the design of robust control for uncertain nonlinear systems is proposed. An appropriate differential operator is conveyed to the controlled plant by a network of cascade compensation, while its remained part is passivitized via optimum bang-bang control. A proper sign-following system is introduced to make the feedforward pass strictly passive. The whole feedback system is strongly robust. The cases for stable, unstable, inversely unstalbe plants are discussed.
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Key words:
- Robust control /
- passivity /
- nonlinear system /
- uncertainty
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