Tracking Control Design for Uncertain Dynamic Systems

设计一个反馈控制器的问题， 渐近跟踪所需参考输入的系统是一个 控制工程师的基本问题。 设计程序 跟踪控制器对于没有y的线性系统是很好建立的。 最近，人们已经认识到， 名义上的系统在实践中可能不能很好地工作， 偏离其标称值。 这引起了人们对鲁棒性的兴趣。 控制器设计，即，控制器必须被设计成实现 当系统中存在扰动时，期望的性能。 这 研究将开发设计控制器的技术， 保证渐近跟踪所有允许的变化， 系统参数 这样的控制器被称为鲁棒跟踪 controller. 目标是导出建立 鲁棒跟踪控制器的存在，并确定建设性的 设计具有这种鲁棒性的控制器的方法。

The problem of designing a feedback controller which results in a system that asymptotically tracks the desired referece input is a fundamental problem for control engineers. Procedures for designing tracking controllers are well established for linear systems with no y. Recently, it has become recognized that control designs based on a nominal system may not work well in practice since the system may deviate from its nominal values. This has led to interest in robust controller design, i.e., the controller must be designed to achieve desired performance when there are perturbations in the system. This research will develop techniques for designing controllers which guarantee asymptotic tracking for all allowable variations in the system parameters. Such a controller is termed a robust tracking controller. The goal is to derive conditions which establish the existence of a robust tracking controller and to determine constructive methods for designing controllers with this robustness property.