Tracking Control Design for Uncertain Dynamic Systems

设计一个反馈控制器，使系统能够渐近地跟踪期望的参考输入，这是控制工程师面临的一个基本问题。对于没有y的线性系统，设计跟踪控制器的程序已经很好地建立起来了。最近，人们已经认识到，基于标称系统的控制设计在实践中可能不太有效，因为系统可能偏离其标称值。这引起了人们对鲁棒控制器设计的兴趣，也就是说，当系统中存在扰动时，控制器必须被设计成达到期望的性能。本研究将发展设计控制器的技术，以保证对系统参数的所有允许变化进行渐近跟踪。这样的控制器称为鲁棒跟踪控制器。目标是推导出鲁棒跟踪控制器存在的条件，并确定设计具有这种鲁棒性的控制器的构造方法。

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.