2范数意义下可镇定半径的Lagrange乘子解法.pdfVIP

Proceedings of the 25th Chinese Control Conference 7–11 August, 2006, Harbin, Heilongjiang 2- Lagrange ,1 2 1. , 100081 E-mail: sam641@ 2. , 121001 E-mail: huochunbao@ : Lagrange 2- : Lagrange The Lagrange Multiplier Method for Calculating Stabilizable Radius with 2-Norm Liu Shiyue1, Huo Chunbao2 1. Beijin Institute of technology, Beijing 100080 E-mail: sam641@ 2. LiaoNing Institute of Technology, Jinzhou 121001 E-mail: Huochunbao@ Abstract: The Lagrange multiplier method is used to analyze the stabilizable radius problem of interval plant family with 2-norm in this paper. Both the real cancellation points case and the complex cancellation points case are discussed, and then the analytic expressions calculating stabilizabale radius are given. Key Words: Plant family, Stabilizable radius, Lagrange multiplier 1 (Introduction) ) Lagrange [1, 2, 3] Barmish () ( IEEE Catalog Number: 06EX1310 : 200521309. 2 (Main Results) [4] f (s) = ansn + an?1sn?1 + · · · + a1s + a0 (2.1a) n σi , f (σi) = 0, anσin + an?1σin?1 + · · · + a1σi + a0 = 0. (2.1b) σi , P0(s) = N0(s)/D0(s), mn P0 = 791 [a0 b0]T a0 b0 [a0 b0]T = [a0, a1, · · · , am, b0, b1, · · · , bn]T . P(s, δ) P(s, δ) = ?N ?D (s, (s, δ) δ) , P = [a b]T (2) Rmax = min P0 ? P 2. (3) P(σ, δ) = ?N ?D (σ, (σ, δ) δ) , ? ??? ?N (σ, δ) = δN,mσm + δN,m?1σm?1 + · · · + +δ1σ + δN,0 = 0 ??? ?D(σ, δ) = δD,nσn + δD,n?1σn?1 + · · · + +δD,1σ + δD,0 = 0. (4) Lagrange λ1, λ2 ? ???????????????????????? ?F ?δN,0 ?F ?δN,1 ?F ?δN,m ???????????????????????? ?F ?δD,0 ?F ?δD,1 ?F ?δD,n = 2(δN,0 ? a0) + λ1 = 2(δN,1 ? a1) + λ1σ ... = 2(δN,m ? am) + λ1σm = 2(δD,0 ? b0) + λ2 = 2(δD,1 ? b1) + λ2σ ... = 2(δD,n ? bn) + λ2σn (7) ? ?????? ?F ?λ1 = ?????? ?F ?λ1 = δN,mσm + δN,m?1σm?1+ · · · + δN,1σ + δN,0 = 0 δD,nσn + δD,n?1σn?1+ · · · + δD,1σ + δD,0 = 0. (8) ? ?????? R = ????P0??N P (σ, p δ) = ?????? s.t. ??? ?D(σ, δ) = δN,mσm + δN,m?1σm?1+ · · · + δN,1σ + δN,0 = 0 δD,nσn + δD,n?1σn?1+ · · · + δD,1σ + δD,0 = 0. (5) ; (2) (1) 2.1 Points Case) Lagrange Lagrange