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针对一类具有凸多面体不确定常参数的离散时间时滞系统,研究其H∞最优保性能预见控制器的设计方法.首先,与以往不同,本文的扩大误差系统仍然保留了时滞,以保证扩大误差系统的状态向量维数不随时滞的增加而增加.其次,针对所构造的扩大误差系统,设计有记忆的状态反馈控制器,并利用线性矩阵不等式方法,导出确保所求控制器存在的条件及该控制器设计的方法.最后,通过建立并求解一个含线性矩阵不等式约束的凸优化问题,给出扩大误差系统的鲁棒H∞保性能控制器,该控制器对于原系统来说就是鲁棒H∞保性能预见控制器.
Aiming at a class of discrete-time time-delay systems with uncertain constant parameters of convex polyhedron, the design method of the H∞ optimal guaranteed predictive controller is studied.First, unlike the past, the extended error system in this paper still retains the time-delay, The state vector dimension of system with guaranteed error is not increased with the increase of time delay.Secondly, a state feedback controller with memory is designed for the extended error system, and the method of linear matrix inequality , And the design method of the controller.Finally, by establishing and solving a convex optimization problem with linear matrix inequality constraints, a robust H∞ guaranteed cost controller for the augmented error system is given. For the original system, It is a robust H∞-guaranteed predictive controller.