RIA: Robust and High Performance Control of Multirate Sampled Data Systems

WPC* 2 B jz Courier #| x x 6 x @ K x @ QMS JetScript QMSJETSC。* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *PRS x @ h h h h} x @ t ？这个项目的目标是开发一个完整的、系统的、直接考虑到问题的混合性质的多速率采样数据系统的鲁棒和高性能方法。更具体地说，是现代的、稳健的控制？针对混合多速率问题，建立了H∞和l 1的设计方法。此外，给出了可直接纳入混合多速率系统设计过程的稳定性、鲁棒性和性能鲁棒性非保守准则。此外，在混合多速率框架下研究了异步采样的情况，并出现了分析和综合工具。上述结果集成到用户友好的计算机软件中，以便于在多速率应用中轻松使用。最后，一个固有的多速率实验，其中计算机视觉被用于反馈到两连杆直接驱动的运动控制系统，用于测试和评估分析的发展。＊＊＊

WPC* 2 B J Z Courier #| x x 6 X @ K X @ QMS JetScript QMSJETSC.PRS x @ h h h h }X @ #| x 2 Z D X F Z Courier QMS JetScript QMSJETSC.PRS x @ h h h h }X @T ? x x x x 6 X @ K X @ T R & H H H H 6 X @ K h @ R:\WPDOC\ 2 ( 9308481 Voulgaris The objective of this project is to develop complete, systematic, robust and high performance methodologies for multirate sampled data systems that take directly into account the hybrid nature of the problem. More specifically, the modern, robust control ? design methodologies of H infinity and l 1 are established for the hybrid multirate problem. In addition, stability robustness and performance robustness non conservative criteria, which can be directly incorporated into the design process, are provided for the hybrid multirate system. Furthermore, the case of asynchronous sampling is investigated in the hybrid multirate framework and analysis and synthesis tools emerge. The above results are integrated into user friendly computer software in order to be easily used in multirate applications. Finally, an inherently multirate experiment, where computer vision is utilized for feedback to the motion control system of a two link direct drive, is used for testing and evaluating the analytical developments. ***