Robust control Synthesis using Hybrid Controller

1)混合系统的基本理论：1-a)采样数据控制（连续/离散时间）阐明了采样数据反馈控制系统的H_2范数与H*范数的关系。提出了连续/离散混合系统平衡实现的新概念，并提出了离散控制器对连续系统进行降阶的方法。此外，我们对现代和经典的采样数据控制方法进行了比较，并澄清了现代方法的特点。1-b)切换反馈控制（连续/逻辑）本文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诱导范数判据的综合过程。1-c)集总参数与分布参数混合系统针对集总参数与分布参数混合机械系统提出了PDS（比例、导数和应变）反馈控制律，该控制器易于实现，对物理参数的不确定性具有鲁棒性。为了验证PDS控制律的有效性，进行了两类实验。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，用于对采样数据控制分析和综合进行统一处理。我们还研究了一类混合系统的GUI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.