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首页> 外文期刊>IEEE Transactions on Automatic Control >Relatively Optimal Control With Characteristic Polynomial Assignment and Output Feedback
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Relatively Optimal Control With Characteristic Polynomial Assignment and Output Feedback

机译：具有特征多项式分配和输出反馈的相对最优控制

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摘要

A relatively optimal control is a stabilizing controller such that, if initialized at its zero state, produces the optimal (constrained) behavior for the nominal initial condition of the plant (without feed for warding and tracking the optimal trajectory). In this paper, we prove that a relatively optimal control can be obtained under quite general constraints and objective function, in particular without imposing 0-terminal constraints as previously done. The main result is that stability of the closed-loop system can be achieved by assigning an arbitrary closed-loop characteristic stable polynomial to the plant. An explicit solution is provided. We also show how to choose the characteristic polynomial in such a way that the constraints (which are enforced on a finite horizon) can be globally or ultimately satisfied (i.e., satisfied from a certain time on). We provide conditions to achieve strong stabilization (stabilization by means of a stable compensator) precisely, we show how to assign both compensator and closed-loop poles. We consider the output feedback problem, and we show that it can be successfully solved by means of a proper observer initialization (based on output measurements only). We discuss several applications of the technique and provide experimental results on a cart-pendulum system.
机译：相对最佳的控制是稳定控制器，这样，如果将其初始化为零状态，则可以为工厂的标称初始条件产生最佳（受约束的）行为（无需进料来跟踪和追踪最佳轨迹）。在本文中，我们证明了可以在相当普遍的约束和目标函数下获得相对最优的控制，特别是无需像以前一样强加0端约束。主要结果是，通过为设备分配任意的闭环特性稳定多项式，可以实现闭环系统的稳定性。提供了一个明确的解决方案。我们还将展示如何选择特征多项式，以使约束（在有限范围内强制执行）可以全局或最终满足（即从某个时间开始满足）。我们提供了精确地实现强稳定（通过稳定的补偿器进行稳定）的条件，我们展示了如何分配补偿器极和闭环极。我们考虑了输出反馈问题，并表明可以通过适当的观察者初始化（仅基于输出测量）来成功解决该问题。我们讨论了该技术的几种应用，并在推车摆系统上提供了实验结果。

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