不确定系统具有圆盘极点约束的跟踪控制器设计  

Tracking controller design for uncertain systems with disk pole constraints

作　　者：尹姝[1] 张丹[1] 俞立[1] 

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310032

出　　处：《浙江工业大学学报》2009年第5期477-479,485,共4页Journal of Zhejiang University of Technology

基　　金：国家杰出青年科学基金资助项目(60525304)

摘　　要：研究了一类具有圆盘极点约束的不确定系统的无静差跟踪控制器设计问题.考虑状态反馈控制器,使得闭环跟踪控制系统的所有极点均位于一给定圆盘.进一步的,考虑极点配置会使得闭环系统产生稳态误差的情况,通过引入一个积分环节实现无静差跟踪控制的目标.给出了闭环跟踪控制系统所有极点均位于给定圆盘的一个充要条件,并将跟踪控制器的设计转化为求解一个具有线性矩阵不等式约束的凸优化问题.最后通过仿真结果表明笔者方法的有效性.The zero-steady-state-error tracking controller design problem with disk pole constraint is studied for a class of uncertain systems. State feedback controllers are considered such that the poles of the resulting closed-loop tracking system are within a prescribed disk. Furthermore, by considering the situation that the pole placement may introduce steady state error of the closed- loop system, an integrator is introduced in the control loop to realize the zero-steady-state-error tracking control. A necessary and sufficient condition, which guarantees that all the closed-loop poles of the tracking control system are within a prescribed disk, is derived. The design of the tracking controllers is converted into solving a convex optimization problem with linear matrix inequality （LMI） constraints. The simulation results are provided to demonstrate the effectiveness of the proposed method.

关 键 词：不确定性 线性矩阵不等式 极点配置 跟踪控制 稳态误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]