Discrete-time delay systems:part 2.Sub-fully actuated case  

作　　者：Guangren DUAN 

机构地区：[1]Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China [2]Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,150001,China

出　　处：《Science China(Information Sciences)》2022年第9期141-155,共15页中国科学（信息科学）（英文版）

基　　金：partially supported by Major Program of National Natural Science Foundation of China(Grant Nos.61690210,61690212);National Natural Science Foundation of China(Grant No.61333003);Fundamental Science Center Program of National Natural Science Foundation of China(Grant No.62188101)。

摘　　要：In continuation to the first part of the paper,this second part further investigates the models and control of discrete-time sub-fully actuated systems with time-varying delays.Firstly,a new representation for general linear and nonlinear dynamical discrete-time fully actuated systems(FASs)with time-varying state delays and constant input delays is proposed,and the concept of sub-FAS is defined.The set of feasible points and the set of singular points for a sub-FAS are introduced.Secondly,like the global FAS case,controllers for a discrete-time sub-FAS can also be easily designed,which results in constant linear closed-loop systems with arbitrarily assignable eigenstructures,but unlike the global FAS case,a constraint must be added,which is expressed by the set of feasible points of the system and guarantees the realizability of the designed controllers.Finally,a general definition for controllable dynamical systems with time delays is given.

关 键 词：time-delay systems discrete-time systems sub-fully actuation control designs feasibility 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]