基于Kp=LDU分解的多变量离散时间系统鲁棒模型-控制理论与应用.PDFVIP

26 6 Vol. 26 No. 6 2009 6 Control Theory Applications Jun. 2009 :2009 , , ( , 273165) : 1, , , . , . , . : ; ; ; : TP273 : A Robust model-reference adaptive control using factorization for multivariable discrete-time systems LI Jun-ling, CHEN Wei, SHAO Chang-bin (Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China) Abstract: For a class of multivariable discrete-time systems with unmodeled dynamics and a relative order greater than one, we develop the parametric models by factorizing the gain matrix in high frequencies. Based on these models, we design a direct robust model-reference adaptive controller under the weak assumptions. By the swapping lemmas for the discrete-time systems, we establish the relations among all signals in the closed-loop with the normalized signals. The stability and robustness of the closed-loop system are analyzed rigorously in a systematic way. Key words: model-reference adaptive control; dynamically normalized signal; multivariable discrete-time systems; factorization 1 (Introduction) , , 20, , , (MRAC) , [1 1 5], . : 1) , , [610]. , , , , , ( MRAC, . 1). 2) [2] , . , , , , . , . 3) , [11] , . [4] , , . : : : ; 2005(NCET–05–0607). 596