扇形不确定切换系统的鲁棒保代价控制.pdfVIP

Proceedings of the 25th Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang : Lyapunov : , E-mail: liuzhilin@hit.edu.cn 150001 (LMI) . Guaranteed Cost Robust Control for Switch System with Sector Uncertainty Zhilin Liu, Run Pei, Xiangyong Mu Harbin Institute of Technology, Harbin 150001, China E-mail: liuzhilin@hit.edu.cn Abstract: This paper focuses on the state feedback guaranteed cost robust control of discrete-time switched system with sector uncertainty. The purpose is to design a state feedback control law such that the close-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible sector uncertainty. Using Lyapunov theory, some (linear matrix inequalities) LMIs-based efficient condition on the existence of guaranteed cost control laws is derived. Lastly, a numerical example shows the validity of the proposed design approach.. Key Words: Sector Uncertainty, Switch System, Guaranteed Cost 1 (Introduction) LMIs Lyapunov Lyapunov Lyapunov Lyapunov LMIs IEEE Catalog Number: 06EX1310 Lyapunov LMIs Lyapunov I ?H + S +? ? ? T Rn HR ?? R?? = ?H ? ? + S T + ST TT ? ? R? n 2 (Problem Statement) 1072 NN x(k + 1) = ∑αi (k) Ai x(k) + ∑αi (k)Biu(k) i=1 i=1 N + ∑αi (k) fi (x(k),u(k)) i=1 x(k) ∈ Rn u(k) ∈ Rm Ai , Bi (i = 1,2,, M ) i α (k) = [α1 (k) α 2 (k) α N (k)] k N αi : Z + = {0,1,2,} → {0,1} ∑αi (k) = 1, ?k ∈ Z + i =1 αi (k0 ) = 1, i ∈ N := {1,2,, N} i N 1 fi (x(k),u(k)) f T i ( x(k ), u(k )) fi ( x(k ), u (k )) ≤ μ 2 ?x(k ??u(k )?T )?? ?x(k ??u(k )? )?? μ 0 fi (x(k),u(k)) k0 N u(k) = ∑αi (k)Ki x(k) i =1 u(k) x(k + 1) = N ∑α i (k ) A?i x(k) + N ∑α i (k ) fi ( x(k ), u(k )) i=1 i =1 A?i = Ai + Bi Ki ∞N J = ∑ ∑αi (k)(xT (k)Li x(k) + uT (k)Riu(k)) k =0 i=1 Li Ri i ∈ N u? (k ) J? J ≤ J? u? (k ) J? 3 (Main Result) 3.1 (State Feedback Control Law) ∑V (k) = xT (k )?? ? N i =1 αi (k ) Pi ?? x(k ) ? x(k) = 0 V (k) = 0 fi (k) = fi (x(k),u(k)) Pi 0 V (k + 1) ?V (k) = xT (k ∑+ 1)?? ? N i