带有干扰的非线性系统的无源化控制_英文_.pdfVIP

第 16 卷第 6 期 控制理论与应用 Vol . 16 ,N o . 6 　1999 年 12 月 CON TROL THEOR Y AND APPL ICA TIONS Dec . , 1999 　 Passiv at i on Cont r ol of N onli n e a r Syst e ms wit h Dist u r b a n c es Mei Shengwei (Department of Electrical Engineering , Tsinghua University ·Beij ing , 100084 , P . R . China) Shen Tielong (Department of Mechanical Engineering , Sophia University ·Tokyo ,J apan) Sun Yuanzhang 　and 　Lu Qiang (Department of Electrical Engineering , Tsinghua University ·Beij ing , 100084 , P . R . China) 　　A b st r a ct : This p ap er prop oses and investigates the p assivation control problem for a class of nonlinear systems with distur bance , that is , to construct a feedback control law such that the corresp onding closedloop system is internally stable and p as sive . A necessary and sufficient condition of p aassivation is given with feedthrough term . In addition , two sp ecial cases of the p assivition problem are discussed using Lyapunov recursive design techniques . Then , more general case is solved via control Lyapunov function . Key w or ds : p assivation ; dissip ative systems ; control Lyapunov function 带有干扰的非线性系统的无源化控制 梅生伟