一般线性系的鲁棒可实现调节器设计
Robust Implementable Regulator Design of General Linear Systems
摘要：
研究了具有周期采样测量的一般线性连续时间\mbox{systems}的鲁棒可实现输出调节器的设计方法，该方法包括调节误差和稳态时通常为非零的额外测量。首先，通过传统的基于仿真的方法开发的数字调节器，使调节误差渐近有界的小采样周期。然后，我们开发了一个混合设计框架，将一个广义的保持设备，原来的问题转化为离散时间系统的输出反馈控制器的设计满足两个条件的问题。我们表明，这样的控制器总是可以通过设计一个离散时间的内模，离散时间的洗出滤波器，和离散时间的输出反馈稳定器。结果表明，当采样周期固定但可以任意大时，调节误差全局指数收敛到零。该设计框架进一步发展为具有大的测量采样周期和小的控制执行周期的多速率数字调节器。
英文摘要：
Robust implementable output regulator design approaches are studied for general linear continuous-time \mbox{systems} with periodically sampled measurements, consisting of both the regulation errors and extra measurements that are generally non-vanishing in steady state. A digital regulator is first developed via the conventional emulation-based approach, rendering the regulation errors asymptotically bounded with a small sampling period. We then develop a hybrid design framework by incorporating a generalized hold device, which transforms the original problem into the problem of designing an output feedback controller fulfilling two conditions for a discrete-time system. We show that such a controller can always be obtained by designing a discrete-time internal model, a discrete-time washout filter, and a discrete-time output feedback stabilizer. As a result, the regulation errors are shown to be globally exponentially convergent to zero, while the sampling period is fixed but can be arbitrarily large. This design framework is further developed for a multi-rate digital regulator with a large sampling period of the measurements and a small control execution period.
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