Fully Actuated System Approach for Linear Systems Control:A Frequency-Domain Solution  

作　　者：DUAN Guang-Ren ZHOU Bin 

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

出　　处：《Journal of Systems Science & Complexity》2022年第6期2046-2061,共16页系统科学与复杂性学报（英文版）

基　　金：the Science Center Program of the National Natural Science Foundation of China under Grant No.62188101;the Major Program of National Natural Science Foundation of China under Grant Nos.61690210 and 61690212;the National Natural Science Foundation of China under Grant No.61333003;the Self-Planned Task of State Key Laboratory of Robotics and System(HIT)under Grant No.SKLRS201716A。

摘　　要：This note studies fully actuated linear systems in the frequency domain in terms of polynomial matrix description(PMD).For a controllable first-order linear state-space system model,by using the right coprime factorization of its transfer function matrix,under the condition that the denominator matrix in the right coprime factorization is column reduced,it is equivalently transformed into a fully actuated PMD model,whose time-domain expression is just a high-order fully actuated(HOFA)system model.This method is a supplement to the previous one in the time-domain,and reveals a connection between the controllability of the first-order linear state-space system model and the fullactuation of its PMD model.Both continuous-time and discrete-time linear systems are considered.Some numerical examples are worked out to illustrate the effectiveness of the proposed approaches.

关 键 词：Column reduced FACTORIZATION first-order linear state-space systems high-order fully actuated systems polynomial matrix description right coprime 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]