基于LMI的时滞系统的预测控制研究
|
摘要
模型预测控制因为其具有处理受约束复杂系统的能力,已经被广泛应用于过程工业中。预测控制算法在处理时滞系统时,主要有两种方法:一是把优化时域比无滞后时延长d拍,其被控对象是纯滞后系统;二是将时滞系统转换成无时滞系统,其计算量将大大增加。工业被控对象不可避免的存在着不确定性、非线性、时滞和受扰动等现象。本文在设计预测控制器时直接考虑时滞现象和不确定性,系统地研究了时滞系统的预测控制算法。主要内容如下:
1.分别针对范数有界和凸多面体两种不确定状态时滞系统,考虑输入饱和约束,给出了带有饱和特性的状态反馈预测控制研究。当被控对象存在凸多面体不确定性时,分别给出了常值状态反馈预测控制算法和增益调度预测控制算法,采用后者可获得较好的控制性能,但是该算法的计算量较大。为了减少计算量,给出了一种基于标称目标函数的预测控制算法。考虑到输入时滞的存在,针对凸多面体不确定状态和输入时滞系统,进行了带有饱和特性的状态反馈预测控制研究。通过仿真研究验证了算法的有效性。
2.研究了适用于具有状态和输入时滞的非线性时滞系统的有限时域模糊预测控制算法。首先以公共Lyapunov -Krasovskii函数(CLF)为终端代价函数,分别以模糊状态反馈控制律和带有饱和特性的模糊状态反馈控制律为局部控制器,展开预测控制算法研究。为了进一步改善被控系统的性能,以模糊Lyapunov-Krasovskii函数(FLF)为终端代价函数,进行预测控制算法研究。通过对CSTR的仿真研究表明,有限时域模糊预测控制算法能够有效地控制具有状态和输入时滞的非线性时滞系统,而以FLF为终端代价函数、以带有饱和特性的状态反馈控制律为局部控制器的有限时域模糊预测控制算法具有较好的控制性能。
3.研究了分段状态时滞系统的非脆弱状态反馈预测控制算法。控制器参数不确定性的普遍存在性,推动了非脆弱控制器的设计。分别以分段线性不确定状态时滞系统和分段模糊状态时滞系统为被控对象,采用分段Lyapunov-Krasovskii函数(PLF)方法,考虑加法和乘法两种形式的控制器增益摄动,展开非脆弱预测控制算法研究。通过对实例的仿真研究,验证了所提算法的有效性。
4.研究了输入受限的受扰动线性状态时滞系统的滚动时域H∞控制算法。算法融合了模型预测控制的滚动优化原理,用系统当前状态刷新相应的LMI优化问题并在每个时刻在线求解,在满足约束条件的同时保证了闭环系统的H∞性能。考虑到系统状态可测和不完全可测两种情况,分别给出了状态反馈和动态输出反馈滚动时域H∞控制算法。仿真实例表明,该算法能实现对输入受限的受扰动线性状态时滞系统的有效控制。
Model predictive control, which is a control algorithm able to handle constrained complex systems, has been widely used in process industry. When the predictive control algorithm was used to control systems with time-delay, two kinds of methods were applied. Firstly, the optimization horizon was d larger than that of algorithm which was used to control systems without time-delay. This method was adapted to time-delay systems with pure time delay. Secondly, systems with time-delay were transformed into systems without time-delay. As a result, the computation burden was increased. There always exist phenomena such as uncertainties, nonlinearity, time-delay and disturbances in industry. This dissertation investigates systematically predictive control algorithms taking time-delay and uncertainties into consideration explicitly in the course of controller design for systems with time-delay.
The main contents of this dissertation are stated as follows:
1. Saturating state feedback predictive control algorithms are investigated for norm-bounded and polytopic uncertain systems with state delay subject to input saturation. When polytopic uncertainty is considered, constant state feedback and gain-scheduling predictive control algorithms are presented. The latter can obtain better performance, but computation burden is high. To overcome this drawback, a predictive control algorithm based on nominal objective function is presented. For polytopic uncertain systems with both state and input delays, a saturating state feedback predictive control algorithm is also investigated. The simulation results demonstrate that the algorithms are effective.
2. Finite horizon fuzzy predictive control algorithms for nonlinear systems with both state and input delays subject to input constraints are investigated. The predictive control algorithms applying common Lyapunov-Krasovskii function as the terminal cost function, applying fuzzy state feedback controller and fuzzy saturated controller as local controllers are presented. To improve the performance of the closed-loop system, a fuzzy Lyapunov-Krasovskii function is applied as the terminal cost function. From the application to continuous stirred tank reactor (CSTR), the effectiveness of the algorithms is guaranteed. And the system controlled by the algorithm whose terminal cost function is a fuzzy Lyapunov-Krasovskii function can obtain better performance.
3. Non-fragile state feedback predictive control algorithm for piecewise system with state delay is investigated. Errors in the controller coefficients which always exist in industry speed the design of non-fragile controllers. In the algorithm, the controlled system is extended into uncertain piecewise linear system with state delay and nonlinear fuzzy system with state delay, piecewise Lyapunov-Krasovskii function is applied and both additive and multiplicative types of controller perturbations are considered. Simulation results show that the presented algorithms are effective.
4. Receding horizon H∞control algorithms are investigated for systems with state delay subject to input constraints and disturbances. Combining receding optimization of model predictive control and H∞control, the algorithms are a LMI-based receding optimization problem with new measurement at each time instant. The disturbance attenuation levels of the controlled systems are guaranteed and the input constraints are satisfied. When not all states are available, a dynamic output feedback receding horizon H∞control algorithm is presented. The simulation verifies that both state feedback and dynamic output feedback receding horizon H∞control algorithms are effective to control the systems with state delay subject to input constraints and disturbances.
1.分别针对范数有界和凸多面体两种不确定状态时滞系统,考虑输入饱和约束,给出了带有饱和特性的状态反馈预测控制研究。当被控对象存在凸多面体不确定性时,分别给出了常值状态反馈预测控制算法和增益调度预测控制算法,采用后者可获得较好的控制性能,但是该算法的计算量较大。为了减少计算量,给出了一种基于标称目标函数的预测控制算法。考虑到输入时滞的存在,针对凸多面体不确定状态和输入时滞系统,进行了带有饱和特性的状态反馈预测控制研究。通过仿真研究验证了算法的有效性。
2.研究了适用于具有状态和输入时滞的非线性时滞系统的有限时域模糊预测控制算法。首先以公共Lyapunov -Krasovskii函数(CLF)为终端代价函数,分别以模糊状态反馈控制律和带有饱和特性的模糊状态反馈控制律为局部控制器,展开预测控制算法研究。为了进一步改善被控系统的性能,以模糊Lyapunov-Krasovskii函数(FLF)为终端代价函数,进行预测控制算法研究。通过对CSTR的仿真研究表明,有限时域模糊预测控制算法能够有效地控制具有状态和输入时滞的非线性时滞系统,而以FLF为终端代价函数、以带有饱和特性的状态反馈控制律为局部控制器的有限时域模糊预测控制算法具有较好的控制性能。
3.研究了分段状态时滞系统的非脆弱状态反馈预测控制算法。控制器参数不确定性的普遍存在性,推动了非脆弱控制器的设计。分别以分段线性不确定状态时滞系统和分段模糊状态时滞系统为被控对象,采用分段Lyapunov-Krasovskii函数(PLF)方法,考虑加法和乘法两种形式的控制器增益摄动,展开非脆弱预测控制算法研究。通过对实例的仿真研究,验证了所提算法的有效性。
4.研究了输入受限的受扰动线性状态时滞系统的滚动时域H∞控制算法。算法融合了模型预测控制的滚动优化原理,用系统当前状态刷新相应的LMI优化问题并在每个时刻在线求解,在满足约束条件的同时保证了闭环系统的H∞性能。考虑到系统状态可测和不完全可测两种情况,分别给出了状态反馈和动态输出反馈滚动时域H∞控制算法。仿真实例表明,该算法能实现对输入受限的受扰动线性状态时滞系统的有效控制。
Model predictive control, which is a control algorithm able to handle constrained complex systems, has been widely used in process industry. When the predictive control algorithm was used to control systems with time-delay, two kinds of methods were applied. Firstly, the optimization horizon was d larger than that of algorithm which was used to control systems without time-delay. This method was adapted to time-delay systems with pure time delay. Secondly, systems with time-delay were transformed into systems without time-delay. As a result, the computation burden was increased. There always exist phenomena such as uncertainties, nonlinearity, time-delay and disturbances in industry. This dissertation investigates systematically predictive control algorithms taking time-delay and uncertainties into consideration explicitly in the course of controller design for systems with time-delay.
The main contents of this dissertation are stated as follows:
1. Saturating state feedback predictive control algorithms are investigated for norm-bounded and polytopic uncertain systems with state delay subject to input saturation. When polytopic uncertainty is considered, constant state feedback and gain-scheduling predictive control algorithms are presented. The latter can obtain better performance, but computation burden is high. To overcome this drawback, a predictive control algorithm based on nominal objective function is presented. For polytopic uncertain systems with both state and input delays, a saturating state feedback predictive control algorithm is also investigated. The simulation results demonstrate that the algorithms are effective.
2. Finite horizon fuzzy predictive control algorithms for nonlinear systems with both state and input delays subject to input constraints are investigated. The predictive control algorithms applying common Lyapunov-Krasovskii function as the terminal cost function, applying fuzzy state feedback controller and fuzzy saturated controller as local controllers are presented. To improve the performance of the closed-loop system, a fuzzy Lyapunov-Krasovskii function is applied as the terminal cost function. From the application to continuous stirred tank reactor (CSTR), the effectiveness of the algorithms is guaranteed. And the system controlled by the algorithm whose terminal cost function is a fuzzy Lyapunov-Krasovskii function can obtain better performance.
3. Non-fragile state feedback predictive control algorithm for piecewise system with state delay is investigated. Errors in the controller coefficients which always exist in industry speed the design of non-fragile controllers. In the algorithm, the controlled system is extended into uncertain piecewise linear system with state delay and nonlinear fuzzy system with state delay, piecewise Lyapunov-Krasovskii function is applied and both additive and multiplicative types of controller perturbations are considered. Simulation results show that the presented algorithms are effective.
4. Receding horizon H∞control algorithms are investigated for systems with state delay subject to input constraints and disturbances. Combining receding optimization of model predictive control and H∞control, the algorithms are a LMI-based receding optimization problem with new measurement at each time instant. The disturbance attenuation levels of the controlled systems are guaranteed and the input constraints are satisfied. When not all states are available, a dynamic output feedback receding horizon H∞control algorithm is presented. The simulation verifies that both state feedback and dynamic output feedback receding horizon H∞control algorithms are effective to control the systems with state delay subject to input constraints and disturbances.
引文
[1]刘士荣,俞金寿.过程控制的若干问题研讨.石油化工自动化.1999(1):5-10.
[2]席裕庚.预测控制.国防工业出版社.1993.
[3]王德进. H 2和H∞优化控制理论.哈尔滨工业大学出版社.2000.
[4] Richalet J, Rault A, Testud J L and Papon J. Algorithmic control of industrial processes. Proceedings of the Fourth IFAC symposium on identification and system parameter estimation. 1976.1119-1167.
[5] Richalet J, Rault A, Testud J L and Papon J. Model predictive heuristic control: application to industrial process. Automatica.1978.14:413-428.
[6] Cutler C R, Ramaker B L. Dynamic matrix control, a computer algorithm. Proceedings of Automatic Control Conference, San Francisco, CA. 1980.
[7] Garcia C E, Morshedi A M. Quadratic programming solution of dynamic matrix control (QDMC). Chemical Engineering Communications.1986.46:73-78.
[8] Clarke D W, Mohtadi C and Tuffs P S. Generalized predictive control. Part1: The basic algorithms. Automatica. 1987.23:137-148.
[9] Clarke D W, Mohtadi C and Tuffs P S. Generalized predictive control. Part2: Extensions and interpretations. Automatica.1987.23:149-160.
[10]袁璞,左信,郑海涛.状态反馈预估控制.自动化学报.1993.19:569-577.
[11]席裕庚,耿晓军,陈虹.预测控制性能研究的新进展.控制理论与应用.2000.17:469-475.
[12] Garcia C E, Morari M. Internal model control 1. A unifying review and some new results. Industrial Engineering Chemical Process.1982.21(2):308-323.
[13] Garcia C E, Morari M. Internal model control 2. Design procedure for multivariable systems. Industrial Engineering Chemical Process.1985.24:472-484.
[14] Garcia C E, Morari M. Internal model control 3. Multivariable control law computation and tuning guidelines. Industrial Engineering Chemical Process.1985.24: 484-494.
[15]舒迪前.预测控制系统及其应用.机械工业出版社.1996.
[16] Mayne D Q, Rawlings J B, Rao C V and Scokaert P O M. Constrained model predictive control: stability and optimality. Automatica. 2000. 36:789-814.
[17] Allwright J C. On min-max model-based predictive control. In: Clarke D W(ed.). Advances in Model Predictive Control, Oxford: Oxford University Press.1994.415-426.
[18] Zheng Z Q, Morari M. Robust stability of constrained model predictive control. Proceedings ofAmerican Control Conference,SanFrancisco.1993.1:379-383.
[19] Badgwell Thomas A. Robust stability conditions for SISO model predictive control algorithms. Automatica.1997.33(7):1357-1361.
[20] Kothare M V, Balakrishnan V and Morari M. Robust constrained model predictive using linear matrix inequalities. Automatica.1996.32(10):1361-1379.
[21] Lu Y, Arkun Y. Quasi-min-max MPC algorithms for LPV systems. Automatica.2000.36: 527-540.
[22] Cuzzola F C, Geromel J C and Morari M. An improved approach for constrained robust model predictive control. Automatica.2002.38:1183-1189.
[23] Casavola A, Giannelli M and Mosca E. Min-max predictive control strategies for input-saturated polytopic uncertain systems. Automatica.2000.36:125-133.
[24] Ding B C, Xi Y G and Li S Y. A synthesis approach of on-line constrained robust model predictive control. Automatica.2004.40:163-167.
[25] Wan Z, Kothare M V. Efficient robust constrained model predictive control with a time varying terminal constraint set. Systems and Control Letters.2003.48:375-383.
[26] Wan Z, Kothare M V. An efficient off-line formulation of robust model predictive control using linear matrix inequalities. Automatica. 2003.39(6):837-846.
[27]丁宝苍,杨鹏,孙鹤旭,董砚.离线鲁棒预测控制器综合方法的改进方案.控制与决策. 2005.20(3):312-315.
[28]丁宝苍,杨鹏.基于标称性能指标的离线鲁棒预测控制器综合.自动化学报.2006. 32(2):304-310.
[29] Ding B C, Xi Y G, Marcin T. Cychowski and Thomas O’Mahony. Improving off-line approach to robust MPC based-on nominal performance cost. Automatica.2007.43(1):158-163.
[30] Lee Y I, Kouvaritakis B. Constrained receding horizon predictive control for systems with disturbance. International Journal of Control.1999.72(11):1027-1032.
[31] Gossner J R, Kouvaritakis B and Rossiter J A. Stable generalized predictive control with constraints and bounded disturbances. Automatica.1997.33(4):551–568.
[32] Chisci L, Rossiter J A and Zappa G. Systems with persistent disturbances: predictive control with restrictive constraints. Automatica.2001.37(7):1019-1028.
[33] Richards A, How J. Robust stable model predictive control with constraint tightening. Proceedings of the American Control Conference.2006.1557-1560.
[34] Mayne D Q, Seron M M and Rakovic S V. Robust model predictive control of constrained linear systems with bounded disturbances. Automatica.2005.41(2):219-224.
[35] Mayne D Q, Rakovic S V, Findeisen R and Allgower F. Robust output feedback modelpredictive control of constrained linear systems. Automatica.2006.42(7):1217-1222.
[36] Tadmor G. Receding horizon revisited: an easy way to robustly stabilize an LTV system. Systems and Control Letters.1992.18(4):285-294.
[37] Lall S, Glover K. A game theoretic approach to moving horizon control. Advances in model-based predictive control. Oxford: Oxford University Press.1994.
[38] Lee J W, Kwon W H and Lee J H. Receding horizon H∞tracking control for time-varying discrete linear systems. International Journal of Control.1997.68(2): 385-399.
[39]吴玮琦,席裕庚,耿晓军.一种结构化摄动系统的鲁棒滚动时域控制.浙江大学学报.1998. 32(增刊):105-110.
[40] Kim K B, Yoon T W and Kwon W H. Stabilizing receding horizon H∞controls for linear continuous time-varying systems. IEEE Transactions on Automatic Control. 2001. 46(8):1273-1279.
[41] Kim K B, Kwon W H. Stabilizing receding horizon H∞controls for linear discrete time-varying systems. International Journal of Control.2001.75:1449-1456.
[42] Chen H, Scherer C W and Allgoewer F. A game theoretic approach to nonlinear robust receding horizon control of constrained systems. Proceedings of the American Control Conference.1997. 3073-3077.
[43] Lee Y I, Kouvaritakis B. Receding horizon H∞predictive control for systems with input saturation. IEE Proceedings of Control Theory Application.2000.147(2):153-158.
[44] Lee Y I. Input constrained receding horizon H∞control: Quadratic programming approach. International Journal of Control, Automation and Systems.2003.1(2):178-183.
[45] Chen H, Scherer C W. An LMI based model predictive control scheme with guaranteed H∞performance and its application to active suspension. Proceedings of the American Control Conference.2004.1487-1492.
[46]陈虹,韩光信,刘志远.基于LMI的约束系统H∞控制及其滚动优化实现.控制理论与应用.2005.22(2):190-195.
[47] Chen H, Scherer C W. Moving horizon H∞control with performance adaptation for constrained linear systems. Automatica.2006.42:1033-1040.
[48] Chen H, Gao X Q and Wang H. An improved moving horizon H∞control scheme through Lagrange duality. International Journal of Control.2006.79(3):239-248.
[49] Ma M M, Chen H. LMI based H∞control for constrained linear systems with norm-boundeduncertainties. Proceedings of the World Congress on Intelligent Control and Automation. 2006. 2421-2425.
[50] Chen H. A feasible moving horizon H∞control schemes for constrained uncertain linear systems. IEEE Transactions on Automatic Control. 2007.52(2):343-348.
[51]王广雄,李连锋,王新生.鲁棒设计中参数不确定性的描述.电机与控制学报.2001.5(1): 5-7.
[52] Jong H K, Eun T J and Hong B P. Robust control for parameter uncertain delay systems in state and control input. Automatica.1996.32(9):1337-1339.
[53] Eun T J, Do C O, Jong H K and Hong B P. Robust controller design for uncertain systems with time-delays: LMI approach. Automatica.1996.32(8):1229-1231.
[54] Xia Y Q, Jia Y M. Robust control of state delayed systems with polytopic type uncertainties via parameter-dependent Lyapunov functionals. Systems and Control Letters.2003.50:183-193.
[55] Yu L. Comments and improvement on "Robust control of state delayed systems with polytopic type uncertainties via parameter-dependent Lyapunov functionals". Systems and Control Letters.2004.53(3-4):321-323.
[56] Cao Y Y, Xue A. parameter-dependent Lyapunov function approach to stability analysis and design for uncertain systems with time-varying delay. European Journal of Control. 2005.11(1): 56-66.
[57] Guan X P, Chen C L and Shi P. On robust stability for uncertain time-delay systems: a polyhedral Lyapunov-Krasovskii approach. Circuits Systems Signal Processing.2005.24 (1):1-18.
[58] Gao H J, Lam J, Chen T W and Wang C H. Stability analysis of uncertain discrete-time systems with time-varying state delay: a parameter-dependent Lyapunov function approach. Asian Journal of Control.2006.8(4):433-440.
[59] Moheimani S O R, Petersen I R. Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems. IEEE Conference of Decision and Control.1995.1513-1518.
[60] Yu L, Chu J. A LMI approach to guaranteed cost control of linear uncertain time-delay system. Automatica.1999.35:1155-1159.
[61] Yu L, Gao F R and Xue A. Guaranteed cost control of uncertain discrete linear time-delay systems .Proceedings of the American Control Conference.2000.4:2481-2485.
[62] Yu L, Gao F R. Optimal guaranteed cost control of discrete-time uncertain systems with both state and input delays. Journal of the Franklin Institute.2001.338(1):101-110.
[63] Chen W H, Guan Z H and Lu X M. Delay-dependent guaranteed cost control for uncertain discrete-time systems with both state and input delays. Journal of the Franklin Institute. 2004.341(5):419-430.
[64] Lee Y S, Kwon O K and Kwon W H. Delay-dependent guaranteed cost control for uncertain state-delayed systems. International Journal of Control, Automation and Systems.2005.3(4): 524-532.
[65] Chen W H, Guan Z H and Lu X M. Delay-dependent output feedback guaranteed cost control for uncertain time-delay systems. Automatica.2004.40(7):1263-1268.
[66] Lee J H, Kim S W and Kwon W H. Memoryless H∞controller for state delayed systems. IEEE Transactions on Automatic Control.1994.39(1):159-162.
[67] Yu L, Chu J and Su H Y. Robust memoryless H∞controller design for linear time-delay system with norm bounded time-varying uncertainty. Automatica.1996.32(12):1759-1762.
[68] Shi P, Agarwal R K, Boukas E K and Shue S P. Robust H∞state feedback control of discrete time-delay linear systems with norm-bounded uncertainty. International Journal of Systems Science.2000.31(4):409-415.
[69] Jeung E T, Kim J H and Park H B. H∞output feedback controller design for linear systems with time varying delayed state. IEEE Transactions on Automatic Control.1998.43(7):971-974.
[70] Xu S Y, Chen T W. Robust H∞control for uncertain discrete-time systems with time-varying delays via exponential output feedback controllers. Systems and Control Letters. 2004. 51:171-183.
[71] Carlos E D S, Li X. Delay-dependent robust H∞control of uncertain linear state-delayed systems. Automatica. 1999.35:1313-1321.
[72] Fridman E, Snaked U. Delay-dependent H∞control of uncertain discrete delay systems. European Journal of Control. 2005.11(1):29-37.
[73] Xu S Y, Lam J and Zou Y. New results on delay-dependent robust H∞control for systems with time-varying delays. Automatica. 2006.42(2):343-348.
[74]席裕庚.串联时滞工业系统的预测控制设计.自动化学报.1995.21(2):129-136.
[75] Bogdan M, Henri B. Robust state-predictive control with separation property: a reduced-state design for control systems with non-equal time delays. Automatica. 2000.36(4):555-562.
[76]李阳春,张卫东,许晓鸣.时滞不确定系统DMC约束控制的鲁棒性条件.控制理论与应用.2001.18(1):109-112.
[77] Kwon W H, Jin W K. Receding horizon control for state delayed systems with its stability. Proceedings of American Control Conference. 1999.1555-1560.
[78] Kwon W H, Kang J W, Lee Y S and Moon Y S. A simple receding horizon control for statedelayed systems and its stability Criterion. Journal of Process Control. 2003.13(6):539-551.
[79]唐功友.离散时滞系统的降维状态预测观测器及预测控制器设计.第十三届中国过程控制年会.2002.1-5.
[80]唐功友,于忠清,孙朝晖.时滞系统的状态预测观测器及预测控制器设计.控制与决策. 2003.18(2):207-209.
[81] Liu Z L, Zhang J and Pei R, et al. Robust model predictive control of time-delay systems. Proceedings of 2003 IEEE Conference on Control Applications.2003.23-25(1):470-473.
[82]张军.时滞系统模型预测控制算法研究.博士学位论文.哈尔滨:哈尔滨工业大学. 2004.
[83] Hu X B, Chen W H. Model predictive control for constrained systems with uncertain state-delays. International Journal of Robust Nonlinear Control.2004.14:1421-1432.
[84] Jeong S C, Park P. Constrained MPC for uncertain time-varying systems with state-delay. IEEE Transactions on Automatic Control.2005.50(2):257-263.
[85] Lee Y S, Han, S H and Kwon W H. Receding horizon H∞control for systems with a state-delay. Asian Journal of Control.2006.8(1):63-71.
[86] Cao Y Y, Lin Z L and Ward D G. An anti-windup approach to enlarging domain of attraction for linear systems subject to actuator saturation. IEEE Transactions on Automatic Control. 2002. 47(1):140-145.
[87] Cao Y Y, Lin Z L and Ward D G. Anti-windup design output tracking systems subject to actuator saturation and constant disturbance. Automatica. 2004.40(7):1221-1248.
[88] Hu T S, Teel A R and Zaccarian L. Nonlinear l 2 gain and regional analysis for linear systems with anti-windup compensation. Proceedings of the American Control Conference. 2005.3391-3396.
[89] Hu T S, Teel A R and Zaccarian L. Regional anti-windup compensation for linear systems with input saturation. Proceedings of the American Control Conference.2005.3397-3402.
[90] Chang P H, Park S H. On improving time-delay control under certain hard nonlinearities. Mechatronics.2003.13( 4):393-412.
[91] Cao Y Y, Wang Z H and Tang J S. Analysis and anti-windup design for time-delay systems subject to input saturation. Proceedings of IEEE International Conference on Mechatronics and Automation.2007.1968-1973.
[92] Hindi H, Boyd S. Analysis of linear systems with saturation using convex optimization. Proceedings of the conference on Decision and Conference.1998.1:903-908.
[93] Tarbouriech S, Gomes J M. Synthesis of controllers for continuous-time delay systems with saturating actuators via LMIS. IEEE Transactions on Automatic Control.2000.45(1):105-111.
[94] Tarbouriech S, Garcia G and Gomes J M. Robust stability of uncertain polytopic linear time-delay systems with saturating inputs: an LMI approach. Computer and Electrical Engineering.2002.28(3):157-169.
[95] Tarbouriech S, Peres P L D, Garcia G and Queinnec I. Delay-dependent stabilization of time-delay systems with saturating actuators. IEE Proceedings on Control Theory and Applications.2002.149(5):387-393.
[96] Hu T S. and Lin Z L. Control Systems with Actuator Saturation: Analysis and Design. July, 2001. Birkhauser, Boston.
[97] Hu T S, Lin Z L and Chen B. M. Analysis and design for linear discrete-time systems subject to actuator saturation. Systems and Control Letters.2002.45(2):97-112.
[98] Hu T S, Lin Z L and Chen B M. An analysis and design method for linear systems subject o actuator saturation and disturbance. Automatica.2002.38(2):351-359.
[99] Fang H J, Lin Z L. and Hu T S. Analysis of linear systems in the presence of actuator saturation and l 2disturbances. Automatica.2004.40(7):1229-1238.
[100] Cao Y Y, Lin Z L and Shamash Y. Set invariance analysis and gain-scheduling control for LPV systems subject to actuator saturation. Systems and Control Letters.2002.46(2):137-151.
[101] Cao Y Y, Lin Z L and Hu T S. Stability analysis of linear time-delay systems subject to actuator saturation. IEEE Transactions on Circuits and Systems - Part I: Fundamental Theory and Applications. 2002.49(2):233-240.
[102] Cao Y Y, Lin Z L. Min-max MPC algorithm for LPV systems subject to input saturation. IEE Proceedings of Control Theory and Applications. 2005.152(3):266-272.
[103]李志军,刘吉臻,谭文.饱和约束系统的鲁棒模型预测控制.控制与决策.2006.21(6): 641-645.
[104] Takagi T. Sugeno M. Fuzzy identification of systems and its applications to modeling and control. IEEE Transactions on Systems, Man and Cybernetics.1985.15(1):116-132.
[105]王立新.自适应模糊系统与控制:设计与稳定性分析.北京:国防工业出版社.1995.
[106] Tanaka K, Hori T and Wang H O. A multiple Lyapunov function approach to stabilization of fuzzy control systems. IEEE Transactions on Fuzzy Systems. 2003.11(4):582-589.
[107] Feng G. Controller Synthesis of Fuzzy Dynamic Systems Based on Piecewise Lyapunov Functions. IEEE Transactions on Fuzzy Systems. 2003.11(5):605-612.
[108] Feng G. Stability Analysis of Discrete-Time Fuzzy Dynamic Systems Based on Piecewise Lyapunov Functions. IEEE Transactions on Fuzzy Systems.2004.12(1):22-28.
[109]张松涛,任光.基于分段模糊Lyapunov方法的离散模糊系统分析和设计.自动化学报. 2006.32(5): 813-818.
[110] Cao Y Y, Frank P M. Analysis and synthesis of nonlinear time-delay systems via fuzzy control approach. IEEE Transactions on Fuzzy Systems. 2000. 8(2):200-211.
[111] Cao Y Y, Frank P M. Stability analysis and synthesis of nonlinear time-delay systems via linear Takagi-Sugeno fuzzy models. Fuzzy Sets and Systems. 2001.124 (2):213-229.
[112] Chen B, Liu X P. Fuzzy guaranteed cost control for nonlinear systems with time-varying delay. IEEE Transactions on Fuzzy Systems. 2005.13(2):238-249.
[113] Xu S Y, James L. Robust H∞control for uncertain discrete-time-delay fuzzy systems via output feedback controllers. IEEE Transactions on Fuzzy Systems.2005.13(1):82-93.
[114] Zhou S S, Feng G, James L and Xu S Y. Robust H∞control for discrete-time fuzzy systems via basis-dependent Lyapunov functions. Information Sciences.2005.174:197-217.
[115] Tseng C S. Model reference output feedback fuzzy tracking control design for nonlinear systems with time-delay. IEEE Transactions on Fuzzy Systems.2006.14(1):58-70.
[116]张军,计秉玉,谢荣华和王彪.一类非线性时滞系统的模糊预测控制.系统仿真学报.2004. 16(9):2083-2085.
[117] Su C L, Wang S Q. Robust model predictive control for discrete uncertain nonlinear systems with time-delay via fuzzy model. Journal of Zhejiang University. Science A.2006.7(10): 1723-1732.
[118] Chen T H, Kung C C. Piecewise H∞Controller Design for a Class of T-S Fuzzy Systems with Time Delay. IEEE International Conference on Fuzzy Systems.2006.468-473.
[119] Chen C L, Feng G. Delay-dependent piecewise control for time-delay T-S fuzzy systems with application to chaos control. IEEE International Conference on Fuzzy Systems.2005. 1056-1061.
[120] Bemporad A, Morari M. Control of systems integrating logic, dynamics and constraints. Automatica.1999.35:407-427.
[121] Mignone D, Ferrari-Trecate G and Morari M. Stability and stabilization of piecewise affine and hybrid systems: An LMI approach. In Proceedings of the 39rd IEEE conference on Decision and Control. Sydney, Australia.2000.504-509.
[122] Mikael Johansson. Piecewise linear control systems: A Computational Approach. Springer Berlin /Heidelberg.2003.
[123] Heemels W P M H, De Schutter B and Bemporad A. Equivalence of hybrid dynamical models. Automatica.2001.37:1085-1091.
[124] Feng G. Controller design and analysis of uncertain piecewise-linear systems. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications. 2002.49(2):224-232.
[125] Feng G. Observer-based output feedback controller design of piecewise discrete-time linear systems. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications. 2003.50(3):448-451.
[126] Rowe C, Maciejowski J. Robust constrained receding horizon control of PWA systems with norm-bounded input uncertainty. Proceedings of the American Control Conference. Denver, Colorado.2003.3949-3954.
[127] Lazar M, Heemels W P M H, Weiland S and Bemporad A. Stabilizing receding horizon control of piecewise linear systems: an LMI approach. Proceedings of the Symposium on Mathematical Theory of Networks and Systems.2004.
[128] Necoara I, De Schutter B, van den Boom T J J and Hellendoorn J. Robustly stabilizing MPC for perturbed PWL systems. Proceedings of IEEE Conference on Decision and Control, and the European Control Conference.2005.3759-3764.
[129] Kulkarni V, Myungsoo J and Hespanha J. Piecewise quadratic Lyapunov functions for piecewise affine time-delay systems. Proceedings of the American Control Conference.2004. 3885-3889.
[130] Liu Z L, Pei R, Mu X Y and Zhang J. State feedback controller design for a class of hybrid systems with time-delay under input constraints. 1st International Symposium on Systems and Control in Aerospace and Astronautics.2006.877-880.
[131] Magdi S. Mahmoud. Resilient Control of Uncertain Dynamical Systems. Springer Berlin / Heidelberg. 2004.
[132] Keel L H, Bhattacharyya S P. Robust, fragile, or optimal? IEEE Transactions on Automatic Control, 1997.42(8):1098-1105.
[133] Jadbabaie A, Abdallah C T, Famularo D and Dorato P. Robust, non-fragile and optimal controller design via linear matrix inequalities. Proceedings of American Control Conference.1998. 2842-2846.
[134] Cho S H, Kim K T and Park H B. Robust and non-fragile H∞controller design for affine parameter uncertain systems. IEEE Conference on Decision and Control.2000.3224-3229.
[135] Peaucelle D, Arzelier D and Farges C. LMI results for resilient state-feedback with H∞performance. IEEE Conference on Decision and Control.2004.400-405.
[136]关新平,邬晶,龙承念.不确定时滞系统保性能弹性控制器的设计.控制理论与应用. 2003. 20(4):619-622.
[137] Xie L. Output feedback H∞control of system with parameter uncertainty. InternationalJournal of Control.1996.63(4):741-750.
[138] Jamal D, Jacques B. Parameter dependent Lyapunv functions for discrete time systems with time varying parameter uncertainties. Systems and Control Letters. 2001.43:355-359.
[139] Schuurmans J, Rossiter J A. Robust predictive control using tight sets of predicted states. IEE Proceedings of Control Theory and Applications.2000.17:13-18.
[140] Boyd S, Ghaoui L E, Feron E and Balakrishnan V. Linear matrix inequality in system and control theory. Philadelphia, PA:SIAM. 1994.
[141] Nemirovskii A, Gahinet P. The projective method for solving linear matrix inequalities. Math. Programming series B. Special issue on SDP.1996.
[142] Nesterov Y, Nemirovskii A. Interior-point polynomial methods in convex programming. SIAM, 13, Philadelphia.1994.
[143] Nesterov Y, Nemirovskii A. Interior-point polynomial methods in convex programming: Theory and application. SIAM, 13, Philadelphia.1994.
[144] Mehrotra S. On the implementation of a primal-dual interior point method. SIAM J. Opt. 1991.2(4):576-601.
[145] Tang H J, Han Y W, Zhang X M and Chen S Z. Robust Stabilization of Uncertain Discrete System with Delay and Saturating Actuators. Chinese Control Conference. 2006.850-854.
[146]周建锁.非线性模型预测控制算法研究.博士论文.哈尔滨:哈尔滨工业大学. 2001.
[147] Song C H, Cai T Y. A stable dual-mode fuzzy predictive control scheme for nonlinear system. Proceedings of the 5th World Congress on Intelligent Control and Automation.2004.628-632.
[148] Limon Marruedo D, Gomes da Silva Jr J M, Camacho E F and Alamo T. Improved MPC design based on Saturating Controls Laws. European Journal of Control. 2005.11(2):112-122.
[149] Chen C L, Feng G and Guan X P. Delay-dependent stability analysis and controller synthesis for discrete-time T-S fuzzy systems with time delays. IEEE Transactions on Fuzzy Systems. 2005.13(5):630-643.
[150] Chen T H, Kung C C. Piecewise H∞controller design for a class of T-S fuzzy systems with time delay. IEEE International Conference on Fuzzy Systems.2006.468-473
[151] Wang W J, Chen Y J and Sun C H. Relaxed stabilization criteria for discrete-time T-S fuzzy control systems based on a switching fuzzy model and piecewise Lyapunov function. IEEE Transactions on Systems, Man and Cybernetics- Part B. 2007.37(3):551-559.
[152] Basar T, Bernhard P. H∞optimal control and related minimax design problems: a dynamic game approach. Birkhauser, Boston.1991.
[2]席裕庚.预测控制.国防工业出版社.1993.
[3]王德进. H 2和H∞优化控制理论.哈尔滨工业大学出版社.2000.
[4] Richalet J, Rault A, Testud J L and Papon J. Algorithmic control of industrial processes. Proceedings of the Fourth IFAC symposium on identification and system parameter estimation. 1976.1119-1167.
[5] Richalet J, Rault A, Testud J L and Papon J. Model predictive heuristic control: application to industrial process. Automatica.1978.14:413-428.
[6] Cutler C R, Ramaker B L. Dynamic matrix control, a computer algorithm. Proceedings of Automatic Control Conference, San Francisco, CA. 1980.
[7] Garcia C E, Morshedi A M. Quadratic programming solution of dynamic matrix control (QDMC). Chemical Engineering Communications.1986.46:73-78.
[8] Clarke D W, Mohtadi C and Tuffs P S. Generalized predictive control. Part1: The basic algorithms. Automatica. 1987.23:137-148.
[9] Clarke D W, Mohtadi C and Tuffs P S. Generalized predictive control. Part2: Extensions and interpretations. Automatica.1987.23:149-160.
[10]袁璞,左信,郑海涛.状态反馈预估控制.自动化学报.1993.19:569-577.
[11]席裕庚,耿晓军,陈虹.预测控制性能研究的新进展.控制理论与应用.2000.17:469-475.
[12] Garcia C E, Morari M. Internal model control 1. A unifying review and some new results. Industrial Engineering Chemical Process.1982.21(2):308-323.
[13] Garcia C E, Morari M. Internal model control 2. Design procedure for multivariable systems. Industrial Engineering Chemical Process.1985.24:472-484.
[14] Garcia C E, Morari M. Internal model control 3. Multivariable control law computation and tuning guidelines. Industrial Engineering Chemical Process.1985.24: 484-494.
[15]舒迪前.预测控制系统及其应用.机械工业出版社.1996.
[16] Mayne D Q, Rawlings J B, Rao C V and Scokaert P O M. Constrained model predictive control: stability and optimality. Automatica. 2000. 36:789-814.
[17] Allwright J C. On min-max model-based predictive control. In: Clarke D W(ed.). Advances in Model Predictive Control, Oxford: Oxford University Press.1994.415-426.
[18] Zheng Z Q, Morari M. Robust stability of constrained model predictive control. Proceedings ofAmerican Control Conference,SanFrancisco.1993.1:379-383.
[19] Badgwell Thomas A. Robust stability conditions for SISO model predictive control algorithms. Automatica.1997.33(7):1357-1361.
[20] Kothare M V, Balakrishnan V and Morari M. Robust constrained model predictive using linear matrix inequalities. Automatica.1996.32(10):1361-1379.
[21] Lu Y, Arkun Y. Quasi-min-max MPC algorithms for LPV systems. Automatica.2000.36: 527-540.
[22] Cuzzola F C, Geromel J C and Morari M. An improved approach for constrained robust model predictive control. Automatica.2002.38:1183-1189.
[23] Casavola A, Giannelli M and Mosca E. Min-max predictive control strategies for input-saturated polytopic uncertain systems. Automatica.2000.36:125-133.
[24] Ding B C, Xi Y G and Li S Y. A synthesis approach of on-line constrained robust model predictive control. Automatica.2004.40:163-167.
[25] Wan Z, Kothare M V. Efficient robust constrained model predictive control with a time varying terminal constraint set. Systems and Control Letters.2003.48:375-383.
[26] Wan Z, Kothare M V. An efficient off-line formulation of robust model predictive control using linear matrix inequalities. Automatica. 2003.39(6):837-846.
[27]丁宝苍,杨鹏,孙鹤旭,董砚.离线鲁棒预测控制器综合方法的改进方案.控制与决策. 2005.20(3):312-315.
[28]丁宝苍,杨鹏.基于标称性能指标的离线鲁棒预测控制器综合.自动化学报.2006. 32(2):304-310.
[29] Ding B C, Xi Y G, Marcin T. Cychowski and Thomas O’Mahony. Improving off-line approach to robust MPC based-on nominal performance cost. Automatica.2007.43(1):158-163.
[30] Lee Y I, Kouvaritakis B. Constrained receding horizon predictive control for systems with disturbance. International Journal of Control.1999.72(11):1027-1032.
[31] Gossner J R, Kouvaritakis B and Rossiter J A. Stable generalized predictive control with constraints and bounded disturbances. Automatica.1997.33(4):551–568.
[32] Chisci L, Rossiter J A and Zappa G. Systems with persistent disturbances: predictive control with restrictive constraints. Automatica.2001.37(7):1019-1028.
[33] Richards A, How J. Robust stable model predictive control with constraint tightening. Proceedings of the American Control Conference.2006.1557-1560.
[34] Mayne D Q, Seron M M and Rakovic S V. Robust model predictive control of constrained linear systems with bounded disturbances. Automatica.2005.41(2):219-224.
[35] Mayne D Q, Rakovic S V, Findeisen R and Allgower F. Robust output feedback modelpredictive control of constrained linear systems. Automatica.2006.42(7):1217-1222.
[36] Tadmor G. Receding horizon revisited: an easy way to robustly stabilize an LTV system. Systems and Control Letters.1992.18(4):285-294.
[37] Lall S, Glover K. A game theoretic approach to moving horizon control. Advances in model-based predictive control. Oxford: Oxford University Press.1994.
[38] Lee J W, Kwon W H and Lee J H. Receding horizon H∞tracking control for time-varying discrete linear systems. International Journal of Control.1997.68(2): 385-399.
[39]吴玮琦,席裕庚,耿晓军.一种结构化摄动系统的鲁棒滚动时域控制.浙江大学学报.1998. 32(增刊):105-110.
[40] Kim K B, Yoon T W and Kwon W H. Stabilizing receding horizon H∞controls for linear continuous time-varying systems. IEEE Transactions on Automatic Control. 2001. 46(8):1273-1279.
[41] Kim K B, Kwon W H. Stabilizing receding horizon H∞controls for linear discrete time-varying systems. International Journal of Control.2001.75:1449-1456.
[42] Chen H, Scherer C W and Allgoewer F. A game theoretic approach to nonlinear robust receding horizon control of constrained systems. Proceedings of the American Control Conference.1997. 3073-3077.
[43] Lee Y I, Kouvaritakis B. Receding horizon H∞predictive control for systems with input saturation. IEE Proceedings of Control Theory Application.2000.147(2):153-158.
[44] Lee Y I. Input constrained receding horizon H∞control: Quadratic programming approach. International Journal of Control, Automation and Systems.2003.1(2):178-183.
[45] Chen H, Scherer C W. An LMI based model predictive control scheme with guaranteed H∞performance and its application to active suspension. Proceedings of the American Control Conference.2004.1487-1492.
[46]陈虹,韩光信,刘志远.基于LMI的约束系统H∞控制及其滚动优化实现.控制理论与应用.2005.22(2):190-195.
[47] Chen H, Scherer C W. Moving horizon H∞control with performance adaptation for constrained linear systems. Automatica.2006.42:1033-1040.
[48] Chen H, Gao X Q and Wang H. An improved moving horizon H∞control scheme through Lagrange duality. International Journal of Control.2006.79(3):239-248.
[49] Ma M M, Chen H. LMI based H∞control for constrained linear systems with norm-boundeduncertainties. Proceedings of the World Congress on Intelligent Control and Automation. 2006. 2421-2425.
[50] Chen H. A feasible moving horizon H∞control schemes for constrained uncertain linear systems. IEEE Transactions on Automatic Control. 2007.52(2):343-348.
[51]王广雄,李连锋,王新生.鲁棒设计中参数不确定性的描述.电机与控制学报.2001.5(1): 5-7.
[52] Jong H K, Eun T J and Hong B P. Robust control for parameter uncertain delay systems in state and control input. Automatica.1996.32(9):1337-1339.
[53] Eun T J, Do C O, Jong H K and Hong B P. Robust controller design for uncertain systems with time-delays: LMI approach. Automatica.1996.32(8):1229-1231.
[54] Xia Y Q, Jia Y M. Robust control of state delayed systems with polytopic type uncertainties via parameter-dependent Lyapunov functionals. Systems and Control Letters.2003.50:183-193.
[55] Yu L. Comments and improvement on "Robust control of state delayed systems with polytopic type uncertainties via parameter-dependent Lyapunov functionals". Systems and Control Letters.2004.53(3-4):321-323.
[56] Cao Y Y, Xue A. parameter-dependent Lyapunov function approach to stability analysis and design for uncertain systems with time-varying delay. European Journal of Control. 2005.11(1): 56-66.
[57] Guan X P, Chen C L and Shi P. On robust stability for uncertain time-delay systems: a polyhedral Lyapunov-Krasovskii approach. Circuits Systems Signal Processing.2005.24 (1):1-18.
[58] Gao H J, Lam J, Chen T W and Wang C H. Stability analysis of uncertain discrete-time systems with time-varying state delay: a parameter-dependent Lyapunov function approach. Asian Journal of Control.2006.8(4):433-440.
[59] Moheimani S O R, Petersen I R. Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems. IEEE Conference of Decision and Control.1995.1513-1518.
[60] Yu L, Chu J. A LMI approach to guaranteed cost control of linear uncertain time-delay system. Automatica.1999.35:1155-1159.
[61] Yu L, Gao F R and Xue A. Guaranteed cost control of uncertain discrete linear time-delay systems .Proceedings of the American Control Conference.2000.4:2481-2485.
[62] Yu L, Gao F R. Optimal guaranteed cost control of discrete-time uncertain systems with both state and input delays. Journal of the Franklin Institute.2001.338(1):101-110.
[63] Chen W H, Guan Z H and Lu X M. Delay-dependent guaranteed cost control for uncertain discrete-time systems with both state and input delays. Journal of the Franklin Institute. 2004.341(5):419-430.
[64] Lee Y S, Kwon O K and Kwon W H. Delay-dependent guaranteed cost control for uncertain state-delayed systems. International Journal of Control, Automation and Systems.2005.3(4): 524-532.
[65] Chen W H, Guan Z H and Lu X M. Delay-dependent output feedback guaranteed cost control for uncertain time-delay systems. Automatica.2004.40(7):1263-1268.
[66] Lee J H, Kim S W and Kwon W H. Memoryless H∞controller for state delayed systems. IEEE Transactions on Automatic Control.1994.39(1):159-162.
[67] Yu L, Chu J and Su H Y. Robust memoryless H∞controller design for linear time-delay system with norm bounded time-varying uncertainty. Automatica.1996.32(12):1759-1762.
[68] Shi P, Agarwal R K, Boukas E K and Shue S P. Robust H∞state feedback control of discrete time-delay linear systems with norm-bounded uncertainty. International Journal of Systems Science.2000.31(4):409-415.
[69] Jeung E T, Kim J H and Park H B. H∞output feedback controller design for linear systems with time varying delayed state. IEEE Transactions on Automatic Control.1998.43(7):971-974.
[70] Xu S Y, Chen T W. Robust H∞control for uncertain discrete-time systems with time-varying delays via exponential output feedback controllers. Systems and Control Letters. 2004. 51:171-183.
[71] Carlos E D S, Li X. Delay-dependent robust H∞control of uncertain linear state-delayed systems. Automatica. 1999.35:1313-1321.
[72] Fridman E, Snaked U. Delay-dependent H∞control of uncertain discrete delay systems. European Journal of Control. 2005.11(1):29-37.
[73] Xu S Y, Lam J and Zou Y. New results on delay-dependent robust H∞control for systems with time-varying delays. Automatica. 2006.42(2):343-348.
[74]席裕庚.串联时滞工业系统的预测控制设计.自动化学报.1995.21(2):129-136.
[75] Bogdan M, Henri B. Robust state-predictive control with separation property: a reduced-state design for control systems with non-equal time delays. Automatica. 2000.36(4):555-562.
[76]李阳春,张卫东,许晓鸣.时滞不确定系统DMC约束控制的鲁棒性条件.控制理论与应用.2001.18(1):109-112.
[77] Kwon W H, Jin W K. Receding horizon control for state delayed systems with its stability. Proceedings of American Control Conference. 1999.1555-1560.
[78] Kwon W H, Kang J W, Lee Y S and Moon Y S. A simple receding horizon control for statedelayed systems and its stability Criterion. Journal of Process Control. 2003.13(6):539-551.
[79]唐功友.离散时滞系统的降维状态预测观测器及预测控制器设计.第十三届中国过程控制年会.2002.1-5.
[80]唐功友,于忠清,孙朝晖.时滞系统的状态预测观测器及预测控制器设计.控制与决策. 2003.18(2):207-209.
[81] Liu Z L, Zhang J and Pei R, et al. Robust model predictive control of time-delay systems. Proceedings of 2003 IEEE Conference on Control Applications.2003.23-25(1):470-473.
[82]张军.时滞系统模型预测控制算法研究.博士学位论文.哈尔滨:哈尔滨工业大学. 2004.
[83] Hu X B, Chen W H. Model predictive control for constrained systems with uncertain state-delays. International Journal of Robust Nonlinear Control.2004.14:1421-1432.
[84] Jeong S C, Park P. Constrained MPC for uncertain time-varying systems with state-delay. IEEE Transactions on Automatic Control.2005.50(2):257-263.
[85] Lee Y S, Han, S H and Kwon W H. Receding horizon H∞control for systems with a state-delay. Asian Journal of Control.2006.8(1):63-71.
[86] Cao Y Y, Lin Z L and Ward D G. An anti-windup approach to enlarging domain of attraction for linear systems subject to actuator saturation. IEEE Transactions on Automatic Control. 2002. 47(1):140-145.
[87] Cao Y Y, Lin Z L and Ward D G. Anti-windup design output tracking systems subject to actuator saturation and constant disturbance. Automatica. 2004.40(7):1221-1248.
[88] Hu T S, Teel A R and Zaccarian L. Nonlinear l 2 gain and regional analysis for linear systems with anti-windup compensation. Proceedings of the American Control Conference. 2005.3391-3396.
[89] Hu T S, Teel A R and Zaccarian L. Regional anti-windup compensation for linear systems with input saturation. Proceedings of the American Control Conference.2005.3397-3402.
[90] Chang P H, Park S H. On improving time-delay control under certain hard nonlinearities. Mechatronics.2003.13( 4):393-412.
[91] Cao Y Y, Wang Z H and Tang J S. Analysis and anti-windup design for time-delay systems subject to input saturation. Proceedings of IEEE International Conference on Mechatronics and Automation.2007.1968-1973.
[92] Hindi H, Boyd S. Analysis of linear systems with saturation using convex optimization. Proceedings of the conference on Decision and Conference.1998.1:903-908.
[93] Tarbouriech S, Gomes J M. Synthesis of controllers for continuous-time delay systems with saturating actuators via LMIS. IEEE Transactions on Automatic Control.2000.45(1):105-111.
[94] Tarbouriech S, Garcia G and Gomes J M. Robust stability of uncertain polytopic linear time-delay systems with saturating inputs: an LMI approach. Computer and Electrical Engineering.2002.28(3):157-169.
[95] Tarbouriech S, Peres P L D, Garcia G and Queinnec I. Delay-dependent stabilization of time-delay systems with saturating actuators. IEE Proceedings on Control Theory and Applications.2002.149(5):387-393.
[96] Hu T S. and Lin Z L. Control Systems with Actuator Saturation: Analysis and Design. July, 2001. Birkhauser, Boston.
[97] Hu T S, Lin Z L and Chen B. M. Analysis and design for linear discrete-time systems subject to actuator saturation. Systems and Control Letters.2002.45(2):97-112.
[98] Hu T S, Lin Z L and Chen B M. An analysis and design method for linear systems subject o actuator saturation and disturbance. Automatica.2002.38(2):351-359.
[99] Fang H J, Lin Z L. and Hu T S. Analysis of linear systems in the presence of actuator saturation and l 2disturbances. Automatica.2004.40(7):1229-1238.
[100] Cao Y Y, Lin Z L and Shamash Y. Set invariance analysis and gain-scheduling control for LPV systems subject to actuator saturation. Systems and Control Letters.2002.46(2):137-151.
[101] Cao Y Y, Lin Z L and Hu T S. Stability analysis of linear time-delay systems subject to actuator saturation. IEEE Transactions on Circuits and Systems - Part I: Fundamental Theory and Applications. 2002.49(2):233-240.
[102] Cao Y Y, Lin Z L. Min-max MPC algorithm for LPV systems subject to input saturation. IEE Proceedings of Control Theory and Applications. 2005.152(3):266-272.
[103]李志军,刘吉臻,谭文.饱和约束系统的鲁棒模型预测控制.控制与决策.2006.21(6): 641-645.
[104] Takagi T. Sugeno M. Fuzzy identification of systems and its applications to modeling and control. IEEE Transactions on Systems, Man and Cybernetics.1985.15(1):116-132.
[105]王立新.自适应模糊系统与控制:设计与稳定性分析.北京:国防工业出版社.1995.
[106] Tanaka K, Hori T and Wang H O. A multiple Lyapunov function approach to stabilization of fuzzy control systems. IEEE Transactions on Fuzzy Systems. 2003.11(4):582-589.
[107] Feng G. Controller Synthesis of Fuzzy Dynamic Systems Based on Piecewise Lyapunov Functions. IEEE Transactions on Fuzzy Systems. 2003.11(5):605-612.
[108] Feng G. Stability Analysis of Discrete-Time Fuzzy Dynamic Systems Based on Piecewise Lyapunov Functions. IEEE Transactions on Fuzzy Systems.2004.12(1):22-28.
[109]张松涛,任光.基于分段模糊Lyapunov方法的离散模糊系统分析和设计.自动化学报. 2006.32(5): 813-818.
[110] Cao Y Y, Frank P M. Analysis and synthesis of nonlinear time-delay systems via fuzzy control approach. IEEE Transactions on Fuzzy Systems. 2000. 8(2):200-211.
[111] Cao Y Y, Frank P M. Stability analysis and synthesis of nonlinear time-delay systems via linear Takagi-Sugeno fuzzy models. Fuzzy Sets and Systems. 2001.124 (2):213-229.
[112] Chen B, Liu X P. Fuzzy guaranteed cost control for nonlinear systems with time-varying delay. IEEE Transactions on Fuzzy Systems. 2005.13(2):238-249.
[113] Xu S Y, James L. Robust H∞control for uncertain discrete-time-delay fuzzy systems via output feedback controllers. IEEE Transactions on Fuzzy Systems.2005.13(1):82-93.
[114] Zhou S S, Feng G, James L and Xu S Y. Robust H∞control for discrete-time fuzzy systems via basis-dependent Lyapunov functions. Information Sciences.2005.174:197-217.
[115] Tseng C S. Model reference output feedback fuzzy tracking control design for nonlinear systems with time-delay. IEEE Transactions on Fuzzy Systems.2006.14(1):58-70.
[116]张军,计秉玉,谢荣华和王彪.一类非线性时滞系统的模糊预测控制.系统仿真学报.2004. 16(9):2083-2085.
[117] Su C L, Wang S Q. Robust model predictive control for discrete uncertain nonlinear systems with time-delay via fuzzy model. Journal of Zhejiang University. Science A.2006.7(10): 1723-1732.
[118] Chen T H, Kung C C. Piecewise H∞Controller Design for a Class of T-S Fuzzy Systems with Time Delay. IEEE International Conference on Fuzzy Systems.2006.468-473.
[119] Chen C L, Feng G. Delay-dependent piecewise control for time-delay T-S fuzzy systems with application to chaos control. IEEE International Conference on Fuzzy Systems.2005. 1056-1061.
[120] Bemporad A, Morari M. Control of systems integrating logic, dynamics and constraints. Automatica.1999.35:407-427.
[121] Mignone D, Ferrari-Trecate G and Morari M. Stability and stabilization of piecewise affine and hybrid systems: An LMI approach. In Proceedings of the 39rd IEEE conference on Decision and Control. Sydney, Australia.2000.504-509.
[122] Mikael Johansson. Piecewise linear control systems: A Computational Approach. Springer Berlin /Heidelberg.2003.
[123] Heemels W P M H, De Schutter B and Bemporad A. Equivalence of hybrid dynamical models. Automatica.2001.37:1085-1091.
[124] Feng G. Controller design and analysis of uncertain piecewise-linear systems. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications. 2002.49(2):224-232.
[125] Feng G. Observer-based output feedback controller design of piecewise discrete-time linear systems. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications. 2003.50(3):448-451.
[126] Rowe C, Maciejowski J. Robust constrained receding horizon control of PWA systems with norm-bounded input uncertainty. Proceedings of the American Control Conference. Denver, Colorado.2003.3949-3954.
[127] Lazar M, Heemels W P M H, Weiland S and Bemporad A. Stabilizing receding horizon control of piecewise linear systems: an LMI approach. Proceedings of the Symposium on Mathematical Theory of Networks and Systems.2004.
[128] Necoara I, De Schutter B, van den Boom T J J and Hellendoorn J. Robustly stabilizing MPC for perturbed PWL systems. Proceedings of IEEE Conference on Decision and Control, and the European Control Conference.2005.3759-3764.
[129] Kulkarni V, Myungsoo J and Hespanha J. Piecewise quadratic Lyapunov functions for piecewise affine time-delay systems. Proceedings of the American Control Conference.2004. 3885-3889.
[130] Liu Z L, Pei R, Mu X Y and Zhang J. State feedback controller design for a class of hybrid systems with time-delay under input constraints. 1st International Symposium on Systems and Control in Aerospace and Astronautics.2006.877-880.
[131] Magdi S. Mahmoud. Resilient Control of Uncertain Dynamical Systems. Springer Berlin / Heidelberg. 2004.
[132] Keel L H, Bhattacharyya S P. Robust, fragile, or optimal? IEEE Transactions on Automatic Control, 1997.42(8):1098-1105.
[133] Jadbabaie A, Abdallah C T, Famularo D and Dorato P. Robust, non-fragile and optimal controller design via linear matrix inequalities. Proceedings of American Control Conference.1998. 2842-2846.
[134] Cho S H, Kim K T and Park H B. Robust and non-fragile H∞controller design for affine parameter uncertain systems. IEEE Conference on Decision and Control.2000.3224-3229.
[135] Peaucelle D, Arzelier D and Farges C. LMI results for resilient state-feedback with H∞performance. IEEE Conference on Decision and Control.2004.400-405.
[136]关新平,邬晶,龙承念.不确定时滞系统保性能弹性控制器的设计.控制理论与应用. 2003. 20(4):619-622.
[137] Xie L. Output feedback H∞control of system with parameter uncertainty. InternationalJournal of Control.1996.63(4):741-750.
[138] Jamal D, Jacques B. Parameter dependent Lyapunv functions for discrete time systems with time varying parameter uncertainties. Systems and Control Letters. 2001.43:355-359.
[139] Schuurmans J, Rossiter J A. Robust predictive control using tight sets of predicted states. IEE Proceedings of Control Theory and Applications.2000.17:13-18.
[140] Boyd S, Ghaoui L E, Feron E and Balakrishnan V. Linear matrix inequality in system and control theory. Philadelphia, PA:SIAM. 1994.
[141] Nemirovskii A, Gahinet P. The projective method for solving linear matrix inequalities. Math. Programming series B. Special issue on SDP.1996.
[142] Nesterov Y, Nemirovskii A. Interior-point polynomial methods in convex programming. SIAM, 13, Philadelphia.1994.
[143] Nesterov Y, Nemirovskii A. Interior-point polynomial methods in convex programming: Theory and application. SIAM, 13, Philadelphia.1994.
[144] Mehrotra S. On the implementation of a primal-dual interior point method. SIAM J. Opt. 1991.2(4):576-601.
[145] Tang H J, Han Y W, Zhang X M and Chen S Z. Robust Stabilization of Uncertain Discrete System with Delay and Saturating Actuators. Chinese Control Conference. 2006.850-854.
[146]周建锁.非线性模型预测控制算法研究.博士论文.哈尔滨:哈尔滨工业大学. 2001.
[147] Song C H, Cai T Y. A stable dual-mode fuzzy predictive control scheme for nonlinear system. Proceedings of the 5th World Congress on Intelligent Control and Automation.2004.628-632.
[148] Limon Marruedo D, Gomes da Silva Jr J M, Camacho E F and Alamo T. Improved MPC design based on Saturating Controls Laws. European Journal of Control. 2005.11(2):112-122.
[149] Chen C L, Feng G and Guan X P. Delay-dependent stability analysis and controller synthesis for discrete-time T-S fuzzy systems with time delays. IEEE Transactions on Fuzzy Systems. 2005.13(5):630-643.
[150] Chen T H, Kung C C. Piecewise H∞controller design for a class of T-S fuzzy systems with time delay. IEEE International Conference on Fuzzy Systems.2006.468-473
[151] Wang W J, Chen Y J and Sun C H. Relaxed stabilization criteria for discrete-time T-S fuzzy control systems based on a switching fuzzy model and piecewise Lyapunov function. IEEE Transactions on Systems, Man and Cybernetics- Part B. 2007.37(3):551-559.
[152] Basar T, Bernhard P. H∞optimal control and related minimax design problems: a dynamic game approach. Birkhauser, Boston.1991.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |