Robust control Synthesis using Hybrid Controller

1)混合系统理论的基本理论：1)采样控制(连续/离散时间)阐明了采样反馈控制系统的H_2范数和H~*范数之间的关系。引入了连续/离散混合系统平衡实现的新概念，提出了连续对象离散时间控制器的降阶方法。此外，我们还比较了现代和经典的采样数据控制方法，阐明了现代方法的特点：1)切换反馈控制(连续/逻辑)提出了切换控制系统的一般框架，得到了一个Lyapunov型充分条件，并给出了基于L_2诱导范数准则的综合方法。1-c)具有集中参数和分布参数的混杂系统。为了验证PDS控制律的有效性，进行了两种类型的实验。2)CAD系统：我们在MatLab上开发了一个名为“采样数据控制工具箱”的工具箱，用于统一处理采样数据控制分析和综合。我们还研究了一类通用混合系统的图形用户界面平台。

1) Basic Theory for Hybrid System Theory :1-a) Sampled-data control (continuous/discrete-time)The relationship between the H_2 norm and the H* norm for sampled-data feedback control systems has been clarified. We have introduced a new notion of balanced realization for continuous/discrete-time hybrid systems and proposed methods of order reduction of the continuous-time plant the discrete-time controller. Moreover, we made a comparison with modern and classical approaches for sampled-data control and the features of the modern approach have been clarified.1-b) Switched feedback control (continuous/logic)A general framework for switched control systems has been proposed, and a Lyapunov type sufficient has been obtained, We have also provided a synthesis procedure based on the L_2 induced norm criterion.1-c) Hybrid systems with lumped and distributed parametersWe proposed PDS (proportional, derivative and strain) feedback control law for hybrid mechanical systems with lumped and distributed parameters The PDS controller is easy to implement and robust against physical parameter uncertainty. In order to demonstrate the effectiveness of the PDS control law, two types of experiments have been carried out.2) CAD System :We have developed a tool box named "Sampled-Data Control Toolbox" on MATLAB for uniform treatment of sampled-data control analysis and synthesis. We also investigated a GUI platform for a general class of hybrid systems.