Study on the design method of robust auto-tuning control systems for large-scale complex systems

1.提出了一种获得H ∞最优PID控制器的有效数值算法。原始设计问题近似为每个频率的线性约束，并应用线性规划。该方法可以应用于分散PID控制器的设计，是一个有发展前途的工作.非线性是导致控制系统复杂性的主要原因之一，为了减少非线性给控制系统设计带来的困难，本文介绍了几种设计方法及其应用。首先，针对输入饱和问题，提出了抗饱和控制器的设计方法。它保证了鲁棒稳定性，并可以应用于分散控制器没有任何困难。其次，研究的设计方法是平滑非线性的两步自由化和线性控制器设计的线性化模型的应用。将该方法应用于双旋翼直升机模型，并通过实验验证了该方法的有效性。最后，本文提出了一种新型的柔性梁控制作动器结构--平行支承带筋阻尼器，并采用鲁棒控制设计方法对未建模高阶模态进行补偿.作为一个大规模复杂系统，混杂系统是由线性定常子系统动态连接，从连续性和适定性的观点来研究。阐明了基本的分析性质和条件。这一结果有望推广到混杂系统的控制设计中。

1. An efficient numerical algorithm for obtaining the H-infinity optimal PID controller is proposed. The original design problem is approximated as linear constraints for each frequency, and linear programming is applied. This method can be applied to the design of a decentralized PID controller, which is a future work.2. Nonlinearity is one of the major cause of complexity of the control system, and in order to decrease the difficulty caused by the nonlinearity, a few design methods and their applications are examined. First, the design method of anti-windup controller against input saturations is proposed. It guarantees the robust stability and can be applied to decentralized controller without any difficulty. Second, a design method examined is a two step liberalization of smooth nonlinearity and the application of linear controller design to the linearized model. This method is applied to a twin rotor helicopter model and its usefulness is shown experimentally. Lastly, a parallel supporting damper with tendon is proposed as a new actuator structure for the control of a flexible beam, and robust control design method is applied to compensate for the unmodelled higher modes.3. As a large scale complex system, a hybrid system which is composed of linear time-invariant subsystems dynamically connected is examined from the viewpoints of continuity and well-posedness of solutions. Basic analytical properties and the conditions are clarified. It is expected that this result is extended to the control design of hybrid systems.