Supervisory Control and Hybrid Systems

9634146莫尔斯对象模型本质上是不准确的，由此类模型描述的调节过程的控制器必须能够确保在存在无法测量的外部过程扰动的情况下具有令人满意的闭环性能。现代线性控制理论现在非常发达，只要模型的不确定性是不变的并且足够小，就可以用来设计具有这种能力的控制器。但对于由对象动态实时变化引起的大模型不确定性，简单的例子表明，没有一个单一的固定参数线性控制器能够以令人满意的方式进行调节。由于运行环境的变化、部件的老化或故障、可能是由于外部影响而导致的工厂动态的突然变化，这些巨大的不确定性可能会实时出现。为了处理这些类型的不确定性，显然需要一个控制器，该控制器可以根据接收到的对象动态变化而改变或被改变。具有这种能力的一个特别有希望的系统体系结构包括一个系列或固定增益或可变增益候选控制器，以及一个被称为监控器的“事件驱动切换逻辑”，其工作是实时确定应将哪个控制器应用于过程。监控系统的例子包括可重构系统、故障校正系统和某些类型的参数自适应系统。我们建议首先改进和扩展我们在早期工作中引入的监督控制的概念，以涵盖更广泛的系统类别，其次将监督控制作为一种激励工具来研究新出现的混合动力系统领域的基本问题。***

9634146 Morse Plant models are inherently inaccurate, and controllers regulating processes described by such models must be able to ensure satisfactory closed-loop performance in the presence of exogenous process disturbances which cannot be measured. Modern linear control theories are now very highly developed and can be used to design controllers with such capabilities for processes admitting linear models provided the model uncertainties are time-invariant and sufficiently small. But for large model uncertainties derived from real-time changes in plant dynamics, simple examples show that no single, fixed-parameter linear controller can possible regulate in a satisfactory way. Such large uncertainties might arise in real time, because of changes in operating environment, component aging or failure, perhaps a sudden change in plant dynamics due to an external influence. To cope with these types of uncertainties obviously requires a controller which can change or be changed in response to received changes in plant dynamics. An especially promising system architecture with this capability consists of a family or fixed- gain or variable-gain candidate controllers, and an "event-driven switching logic" called a supervisor whose job is to determine in real time which controller should be applied to the process. Examples of supervisory control systems include reconfigurable systems, fault correction systems, and certain types of parameter-adaptive systems. We propose first to refine and extend the concept of supervisory control introduced in our earlier work, to encompass broader classes of systems and second to use supervisory control as a motivating vehicle for the study of basic issues in the newly emerging field of hybrid dynamical systems. ***