针对一类同时具有时变时延和丢包的网络化控制系统,设计使得闭环系统均方意义下指数稳定的H∞状态反馈控制器,并且满足给定的H∞性能指标.已知系统从传感器到控制器之间通道具有数据包丢失和时变时延,控制器到执行器通道具有时变时延.假设网络诱导总时延小于等于一个采样周期,将时延的时变系数转换为系统参数矩阵的不确定性,因此系统被建模为范数有界的不确定系统.使用Bernoulli随机序列描述数据包丢失且数据丢失概率已知.基于线性矩阵不等式(LMI)方法和李雅普诺夫(Lyapunov)稳定性原理,给出并证明了所设计控制器存在的充分条件,并将控制器设计问题转换为求解线性矩阵不等式可行解的问题.最后给出了仿真实例,验证了采用的设计控制器方法的有效性和可行性.%For a class of networked control systems with time-varying delay and packet dropout,a H∞ controller is designed in order to make the closed-loop system mean square stable and meet the prescribed H∞ disturbance attenuation level.It is known that the system has data packet loss and time-varying delay from the sensor to the controller,and time varying delay from the controller to actuator.The total time delay is less than one sampling period.The uncertainty of delay is turned into the unknown parameters of the system equation so that the system is modeled as a norm bounded uncertain system.Data packet dropout is assumed to be satisfied with the Bernoulli distribution sequence with known probability.Sufficient conditions for the existence of the state feedback controller are given by linear matrix inequality and Lyapunov principle.And the controller design problem is transformed into solving the feasible solution of the linear matrix inequality.A simulation example is given to prove the effectiveness and feasibility of the design method.
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