Analysis and Design of Switched Control Systems

主要研究结果总结如下：1。利用参考调速器和调节器理论进行在线参考输入整形。我们提出对给定的伺服系统使用最优调节控制。将其与参考调速器结合使用，可以大大提高控制性能。一种使用参考调速器的有效方法。对于每一个恒定的参考输入r，确定了最大容许集O (r)。为了使用参考调控器执行参考输入整形，对于每个t，我们需要确定O(r)所包含的系统状态x(t)。我们提出了一种高效的算法。连续时间系统的最大容许集计算。提出了一种具有不确定性的连续非线性系统的最大容许集子集的计算方法。这是对前面关于无不确定性线性连续时间系统的结果的推广。非线性数字伺服系统的设计。对连续系统进行离散化后得到的离散时间系统，其不确定性类是不容易表征的。在线参考输入整形使用滑模控制。采用在线参考输入管理法，提出了一种带约束系统的滑模控制方案。模型预测型控制。我们提出了一种模型预测型控制方案，它与模型预测控制方案非常相似。模型预测型控制的优点是给出了原优化问题的准全局最优解。

The main results obtained through the research are summarized as follows:1. On-line reference input shaping using reference governor and regulator theory.We proposed to use the optimal regulation control for a given servo systems. By using this with reference governor, we can improve the control performance very much.2. An efficient method to use reference governor.For each constant reference input r, the maximal admissible set O (r) is determined. To execute reference input shaping using reference governor, for each t, we need to determine the state x(t) of the systems is contained in which O(r). We proposed an efficient algorithm to do it.3. Maximal admissible set computation for continuous time systems.We proposed a computation method of subset of the maximal admissible set for continuous nonlinear systems with uncertainty. This is a generalization of the previous result for linear continuous time system without uncertainty.4. Design of nonlinear digital servo systems.It is not easy to characterize the uncertainty class for discrete time systems which are obtained by some discretization of continuous systems.5. On-line reference input shaping using sliding mode control.By applying on-line reference input management method, we proposed a sliding mode control scheme for systems with constraints.6. Model predictive type control.We proposed a model predictive type control scheme which is quite similar to the model predictive control scheme. The advantage of our model predictive type control is it gives quasi globally optimal solution of the original optimization problem.