Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, Mexico.
ISA Trans. 2018 Mar;74:155-164. doi: 10.1016/j.isatra.2018.01.017. Epub 2018 Feb 3.
In this research, a robust feedback linearization technique is studied for nonlinear processes control. The main contributions are described as follows: 1) Theory says that if a linearized controlled process is stable, then nonlinear process states are asymptotically stable, it is not satisfied in applications because some states converge to small values; therefore, a theorem based on Lyapunov theory is proposed to prove that if a linearized controlled process is stable, then nonlinear process states are uniformly stable. 2) Theory says that all the main and crossed states feedbacks should be considered for the nonlinear processes regulation, it makes more difficult to find the controller gains; consequently, only the main states feedbacks are utilized to obtain a satisfactory result in applications. This introduced strategy is applied in a fuel cell and a manipulator.
在这项研究中，研究了一种用于非线性过程控制的鲁棒反馈线性化技术。主要贡献如下：1）理论表明，如果线性化的被控过程是稳定的，那么非线性过程状态是渐近稳定的，但在应用中并不满足，因为一些状态会收敛到小值；因此，提出了一个基于李雅普诺夫理论的定理，证明如果线性化的被控过程是稳定的，那么非线性过程状态是一致稳定的。2）理论表明，对于非线性过程调节，应该考虑所有的主状态和交叉状态反馈，这使得找到控制器增益更加困难；因此，在应用中仅利用主状态反馈就可以得到满意的结果。该策略应用于燃料电池和机械手。
