On Feedback Control of Processes with ‘Hard’ Nonlinearities
On Feedback Control of Processes with ‘Hard’ Nonlinearities
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关于具有“硬”非线性过程的反馈控制
DOI：
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发表时间：
2001
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影响因子：
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通讯作者：
B. Friedland
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文献类型：
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作者：
B. Friedland
通常需要控制具有“硬”非线性的过程，例如摩擦、间隙和饱和，或具有状态变量约束的过程，例如物理极限停止或系统不应冒险进入的状态空间区域。此类过程的控制系统设计无法通过一些当前流行的方法进行处理，例如需要可微（“平滑”）非线性的反馈线性化。然而，最近开发的状态相关代数 Riccati 方程 (SDARE) 方法（也称为扩展线性化）不受此限制，并且可用于设计不适合通过其他方法设计的控制系统。
It is frequently necessary to control processes with ‘hard’ nonlinearities, such as friction, backlash, and saturation, or with state-variable constraints, such as physical limit stops or regions in state space into which the system should not venture. Design of control systems for such processes has eluded treatment by some of the currently popular methods, such as feedback linearization, that require differentiable (‘smooth’) nonlinearities. The recently-developed state-dependent algebraic Riccati equation (SDARE) method, also known as extended linearization, however, does not suffer from this limitation and may be useful for design of control systems that are not amenable to design by other methods.