Robust controller design for flexible structures using normalized coprime factor plant descriptions
Robust controller design for flexible structures using normalized coprime factor plant descriptions
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发表时间：
1993-05
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通讯作者：
E. Armstrong
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作者：
E. Armstrong
稳定是柔性结构反馈补偿器设计的基本要求。寻找给定设计对象周围的最大邻域，使单个控制器产生闭环稳定性，可以表示为H（次无穷）控制问题。使用归一化的协素因子植物描述，其中植物扰动被定义为对协素因子的附加修改，导致最大邻域边界的封闭形式表达式，允许直接计算最优和次优H（次无穷）补偿器，而无需通常的gamma迭代。摘要综述了基于归一化共素因子描述的鲁棒镇定理论，并将该理论应用于控制-结构相互作用（CSI）进化模型的相位版本鲁棒稳定补偿器的计算。应用结果表明，该理论的次优版本有可能为低权威补偿器的计算提供基础，这些补偿器对设计模型参数的预期变化和未建模的附加动力学具有鲁棒稳定性。
Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics.