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首页> 外文期刊>International Journal of Control >Deadbeat control system with time-varying uncertainty: minimization of worst case steady-state tracking error
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Deadbeat control system with time-varying uncertainty: minimization of worst case steady-state tracking error

机译：具有时变不确定性的无差拍控制系统：最小化最坏情况稳态跟踪误差

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摘要

This paper poses and solves a new problem of the synthesis of a controller that minimizes the worst case steady-state controlled error in the presence of time-varying unstructured uncertainty. We present an easy, straightforward design method forobtaining a controller that minimizes the worst case steady-state controlled error under the assumption that the plant is strictly proper., The detailed contributions are as follows. First, we derive a new, simple expression for calculating the worststeady-state, error, which gives useful and interesting suggestions about the controller design. We then show that the synthesis problem is reduced to a simple and tractable l{sub}1-norm minimization problem. Therefore, this reduction provides a feasiblemethod for solving the design problem of a controller that minimizes the worst case steady state error. Second, a deadbeat tracking control problem is considered and a straightforward design method is presented for obtaining a deadbeat controller withgiven settling steps both to guarantee robust stability and to minimize the worst case steady-state error. The proposed controller is easily obtained by solving a simple linear programming problem. Finally, we show that the proposed controller minimizesthe maximum, error bound of the controlled output to persistent bounded disturbance.
机译：本文提出并解决了一个新的控制器综合问题，该问题可在存在时变非结构化不确定性的情况下将最坏情况的稳态控制误差降至最低。我们提出了一种简单，直接的设计方法，该方法用于获得一种控制器，该方法在假定工厂严格正确的假设下，将最坏情况的稳态控制误差降至最低。详细贡献如下。首先，我们导出一个新的简单表达式来计算最差稳态误差，该表达式为控制器设计提供了有用且有趣的建议。然后，我们证明了合成问题被简化为一个简单易处理的l {sub} 1-norm最小化问题。因此，这种减少为解决控制器的设计问题提供了可行的方法，该方法使最坏情况的稳态误差最小。其次，考虑了无差拍跟踪控制问题，并提出了一种简单的设计方法来获得具有给定稳定步骤的无差拍控制器，以确保鲁棒的稳定性并最小化最坏情况的稳态误差。通过解决简单的线性规划问题，可以轻松获得所提出的控制器。最后，我们证明了所提出的控制器将受控输出对持续有界干扰的最大误差范围最小化。

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