Azizi Sajad
Graduate Program of Electrical Engineering Department, Federal University of Minas Gerais, Belo Horizonte, Brazil.
ISA Trans. 2017 May;68:90-98. doi: 10.1016/j.isatra.2017.02.017. Epub 2017 Mar 10.
The robust stability of a class of feedback linearizable minimum-phase nonlinear system, having parametric uncertainties, is investigated in this study. The system in new coordinates is represented to an equivalent formulation after the attempt of feedback linearization. Due to the parametric uncertainties the approximately linearized system entails a norm bounded input nonlinearity such that the equilibrium point condition in error dynamics can not be satisfied. Accordingly, to guarantee the regional asymptotic stability a control synthesis problem is proposed by means of sufficient Linear Matrix Inequalities (LMIs) together with an amended nonlinear control term, derived from the Lyapunov redesign method, which tackles zero steady-state error condition. The numerical examples of a general aviation aircraft's longitudinal dynamics and inverted pendulum are simulated to show the proficiency of the proposed control technique.
本研究探讨了一类具有参数不确定性的反馈线性化最小相位非线性系统的鲁棒稳定性。在尝试进行反馈线性化之后，新坐标下的系统被表示为一种等效形式。由于参数不确定性，近似线性化系统存在一个范数有界的输入非线性项，使得误差动态中的平衡点条件无法满足。因此，为了保证区域渐近稳定性，通过充分的线性矩阵不等式（LMI）以及基于李雅普诺夫重新设计方法导出的修正非线性控制项，提出了一个控制综合问题，该方法解决了零稳态误差条件。通过对通用航空飞机纵向动力学和倒立摆的数值例子进行仿真，以展示所提出控制技术的有效性。
