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首页> 外文期刊>International Journal of Control, Automation, and Systems >Comparative Study of Discretization Zero Dynamics Behaviors in Two Multirate Cases
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Comparative Study of Discretization Zero Dynamics Behaviors in Two Multirate Cases

机译：两种多比率情况下离散化零动力学行为的比较研究

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摘要

It is well known that the existence of unstable zero dynamics is recognized as a major barrier in many control systems. When the usual digital control with zero-order hold (ZOH) or fractional-order hold (FROH) input is used, unstable zero dynamics inevitably appear in the discrete-time model even though the continuous-time system with relative degree more than two is of minimum phase. This paper investigates the zero dynamics, as the sampling period tends to zero, of sampled-data models composed of a generalized sample hold function (GSHF), a continuous-time nonlinear plant and a sampler in cascade. More precisely, we show how an approximate sampled-data model can be obtained for nonlinear systems with two special GSHF cases such that sampled zero dynamics of the resulting model can be arbitrarily placed. Further, two GSHFs with appropriate parameters provide nonlinear zero dynamics as stable as possible, or with improved stability properties even when unstable, for a given continuous-time plant. It is also shown that the intersample behavior arising from the multirate input can be localised by appropriately selecting the design parameters based on the stability condition of the zero dynamics. The results presented here generalize well-known ideas from the linear to nonlinear cases.
机译：众所周知，在许多控制系统中，存在不稳定的零动态是公认的主要障碍。当使用具有零阶保持（ZOH）或分数阶保持（FROH）输入的常规数字控制时，即使相对度大于2的连续时间系统的离散时间模型也不可避免地会出现不稳定的零动力学。最小相位。本文研究了随着采样周期趋于零的零动力学，该数据模型由广义样本保持函数（GSHF），连续时间非线性工厂和级联采样器组成。更准确地说，我们展示了如何为具有两种特殊GSHF情况的非线性系统获得近似采样数据模型，从而可以任意放置所得模型的采样零动力学。此外，对于给定的连续时间工厂，两个具有适当参数的GSHF可提供尽可能稳定的非线性零动力学，或者即使在不稳定的情况下也具有改进的稳定性。还显示了可以通过基于零动力学的稳定性条件适当选择设计参数来本地化由多速率输入引起的样本间行为。此处给出的结果概括了从线性到非线性情况的著名思想。

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