A study on constructive stability and initial condition problem in supervisory control system

研究结果表明，监控系统的结构稳定性和初始条件问题。(1)考虑监控系统的稳定性，包括监控规则。这里，它被认为是两个补偿器的切换规则。利用李雅普诺夫函数讨论了切换装置为非线性函数时的稳定性问题，首先明确了稳定性的最佳或最差切换准则。其次，根据系统的特征(如特征值)证明了系统的构造性稳定性。(2)以非完整系统为例，利用李雅普诺夫函数证明了可镇定补偿器的设计理论。将其应用于两轮车转向控制中。(3)分析了切换双油箱的动力学行为，并将其实现为混沌行为。

The study clarifies the following results as the constructive stability and initial condition problem in supervisory control system.(1) The stability of supervisory system should be considered, including the supervisor rule. Here, it is supposed to be the switching rule of two compensators. The stability is discussed with Liapunov function, so as the switching device is the nonlinear function.First of all, the best or the worst switching rule for stability is clarified. Secondly constructive stability is invested based on the system characteristics such as the eigen values(2) Nonholonomic system is dealt with as the examples of switched system and a design theory of stabilizable compensator is proved by using Liapunov function. It is applied to the steering control of a two-wheeler.(3) The dynamical behavior of switched two tanks is analyzed and it is realized as chaotic behavior.