不稳定零动态系统的鲁棒控制  

Robust control of systems with unstable zero-dynamics

作　　者：张静[1] 王广雄[1] 何朕[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2005年第1期67-71,共5页Control Theory & Applications

基　　金：哈尔滨工业大学重点学科建设基金资助项目(54100179).

摘　　要：不稳定零动态系统的特点是存在不稳定模态.不稳定零动态与不稳定模态有联系但并不等同,不稳定零动态具有不变性,而不稳定模态则是可以被镇定的.采用复合控制,用快速回路直接对不稳定子系统进行镇定,而对于取输出进行反馈的慢变回路来说,将快速回路的动特性作为未建模动态而采用常规的鲁棒控制方法进行设计.整个设计具有鲁棒性.以小车-倒摆系统为例对设计过程作了详细的说明.An important feature of systems with unstable zero-dynamics is that there exist unstable modes.Unstable zero-dynamics is related to the unstable modes,but are not the same with each other.Unstable zero-dynamics is invariant,but the unstable modes can be stabilized.With composite control,a fast loop is employed to directly stabilize the unstable subsystem.The slow loop formed from the output is then designed by existing robust method,while the dynamics of the fast loop is treated as the unmodeled dynamics.The whole design is robust.An example of an inverted pendulum on a cart is presented to illustrate the design process.

关 键 词：不稳定零动态 非最小相位非线性系统 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]