非线性离散系统近似最优跟踪控制.pdfVIP

27 3 Vol. 27 No. 3 2010 3 Control Theory Applications Mar. 2010 :2010 , , (1. , 266100; 2. , 266107; 3. , 257061) : . , Maclaurin, . . Riccati . . : ; ; ; ; : TP13 : A Approximate optimal output tracking control for nonlinear discrete-time systems TANG Gong-you , LIU Yi-min , ZHANG Yong (1. College of Information Science and Engineering, Ocean University of China, Qingdao Shandong 266100, China; 2. China Research Institute of Radiowave Propagation, Qingdao Shandong 266107, China; 3. College of Information and Control Engineering, China University of Petroleum, Dongying Shandong 257061, China) Abstract: The optimal output tracking control(OOTC) problem is considered for discrete-time nonlinear systems. By introducing a sensitivity parameter in the nonlinear two-point boundary value(TPBV) problem which is obtained from the optimal control problems and expanding Maclaurin series around it, the original nonlinear OOTC problem is transformed into a series of nonhomogeneous linear TPBV problems. The OOTC law consists of analytic feedback and feedforward terms and a compensation term in an infinite series form. The analytic terms can be obtained by solving a Riccati difference equation and a matrix difference equation. The series compensation term can be approximately obtained by an iterative algorithm of adjoint vector equations. A simulation example from continuously stirred tank reactor(CSTR) is employed to test the validity of the presented algorithm.