Integrated studies on the design of the sampled data adaptive control systems based on the output feedback passivity.

在实际应用中，需要开发一种简单的具有鲁棒性的控制器。自适应控制被认为是克服不确定性和提高控制系统鲁棒性的方法之一。然而，大多数自适应方案是针对连续时间系统开发的。针对化工过程中存在的采样控制系统，研究采样控制系统的简单鲁棒控制策略具有重要意义，本文针对采样控制系统（包括非线性系统和复杂多输入多输出系统），综合研究了基于输出反馈的简单自适应控制器的设计方案，其中只有输出信号是可用的，并且该方案基本上基于输出反馈无源性。本文主要研究了以下几个方面的问题：1）基于输出无源性，建立了不含观测器的离散系统的输出反馈鲁棒自适应控制系统的设计思想; 2）并行前馈补偿器控制系统设计方案的基础研究; 3）采样系统（包括多采样率系统）的自适应输出反馈控制设计; 4）所提方法的实验验证

It is desired to develop a simple controller with robustness in practical applications. The adaptive control scheme is considered one of the methods against the uncertainties and to improve the robustness of the control system. However, most adaptive schemes are developed for continuous-time systems. Since there are several control systems which deal with as sampled-data system such as chemical processes, it is important to develop simple and robust control strategies for sampled-data systems.This research was concerned with integrated studies and the synthesis of the design scheme of such simple adaptive controls based on output feedback for sampled-data systems including nonlinear systems and complex MIMO systems, where only the output signal is available and the scheme is basically based on the output feedback passivity. In particular, the following topics were studied.1) Establish design concepts of output feedback-based robust adaptive control systems for discrete-time systems without observers based on the output passivity.2) Basic studies on the design schemes of control systems with a parallel feedforward compensator.3) Adaptive output feedback control design for sampled-data systems including multirate systems.4) Experimental validation of proposed methods