Toward Control System Design Based on System Structure

本课题旨在建立一种新的控制系统设计框架，从实际系统的物理结构与模型的数学结构兼容的角度出发，将被控系统的建模与控制器的设计相结合。个别调查人员从这个角度考虑他们自己的问题。所有成员在四个研讨会上聚集在一起，评估他们取得的成果并讨论期望的框架。本项目的主要贡献如下：1。提出了一种新的鲁棒控制理论，它将物理系统的不确定性视为数学描述，避免了不确定性的高估。将鲁棒控制理论推广到预瞄控制中，提出了在鲁棒控制系统中引入整定参数的方法。采样数据控制理论已应用于无差拍控制、对称系统和信号处理。提出了非线性系统和变系统的建模、增益调度控制和自适应控制的新方法。在限制较少的条件下，提出了施加结构约束的分散控制的新设计方法。提出了一种新的直接基于输入输出数据的控制策略，这是一种全新的控制理念。由于研究周期较短，部分研究成果未能圆满实现项目目标。但是，可以说，即使是这样的结果，也为最终目标的控制理论开创了新的思路。

This research project aimed at establishing a new framework of control system design, which integrates modeling of a controlled system and design of a controller from the viewpoint of comatibility between the physical structure of a real system and the mathematical structure of its model. Individual investigators considered their own problems from this point of view. All members got together at four workshops to evaluate their obtained results and to discuss the desired framework. Main contributions of the project are as follows :1.New robust control theory has been proposed which treats uncertainty of a physical system as it is in the mathematical description and avoids overestimation of uncertainty.2.Robust control theory has been extended to preview control, and a method of introducing a tuning parameter in a robust control system has been proposed.3.Sampled-data control theory has been applied to deadbeat control, symmetric systems, and signal processing.4.New methods of modeling, gain-scheduling control, and adaptive control of nonlinear systems and varying systems have been proposed.5.New design methods of decentralized control in which structural constraints are imposed have been proposed under less restrictive conditions.6.A new control strategy based directly on input and output data has been proposed, which is from a completely new philosophy.Due to shortage of research period, some of the results have not satisfactorily achieved the aim of the project. But, it can be said that even such results have initiated new ideas of control theory toward the final objective.