基于动态补偿的线性系统最优干扰抑制-控制理论与应用.pdfVIP

30 7 Vol. 30 No. 7 2013 7 Control Theory Applications Jul. 2013 DOI: 10.7641/CTA.2013.12046 , (1. , 100871; 2. , 300072) : , . , , . , Lyapunov , . , Lyapunov, . , , . : ; ; ; ; ; : TP273 : A Optimal disturbance rejection via dynamic compensation for linear systems LIU Lei, ZHANG Guo-shan (1. Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China; 2. School of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, China) Abstract: We investigate the linear-quadratic optimal control by using dynamic compensation for the linear time- invariant system affected by external persistent disturbances with known dynamic characteristics. By combining the system with the disturbance system, we transform this optimal disturbance rejection problem into the standard linear quadratic optimal control problem without disturbance, and develop the dynamic compensator with appropriate order to make the closed-loop system asymptotically stable with associated Lyapunov equation having a symmetric positive-definite solution. The quadratic performance index is formulated as a simple expression related to the symmetric positive-definite solution to the Lyapunov equation as well as the initial value of the closed-loop system. In order to solve the optimal control problem for the system, we transform the Lyapunov e