几类时滞饱和系统H_∞滤波器设计及应用
|
摘要
在控制系统的设计及信号处理中,H∞滤波问题都具有重要的理论和实际意义,受到了广泛的关注和研究.H∞滤波的目标是设计一个动态系统,使其对应的滤波误差对于参数、外部噪声等不确定因素具有一定的鲁棒抗干扰性能.它不必获取系统外部噪声的先验知识,也不要求精确的数学模型,只要求系统的扰动有界即可,这些特性使得H∞滤波在实际工程中具有重要的应用价值.但是实际工程中,系统往往会受到多种外部因素的影响.这些因素会限制系统的运行,导致系统不稳定,性能指标变坏甚至造成严重的后果,在滤波器设计时必须予以考虑.其中较为突出的为饱和与时滞因素的限制,得到了人们的广泛关注.但目前基于时滞与饱和的H∞滤波器设计一般是单独考虑时滞或饱和因素的影响,而且大多为线性系统的滤波器设计,对于一般的非线性系统,则研究较少.
本论文研究了几类时滞饱和系统的H∞滤波器设计及应用问题,主要包括以下几方面的内容：
1.研究了一类同时存在时滞(含常时滞和时变时滞两种情形)与饱和的线性系统鲁棒H∞滤波器设计问题.给出了一种线性滤波器的结构,提出一种新的设计方法.该方法应用Lyapunov-Krasovskii稳定性理论和线性矩阵不等式(LMIs)方法,来分析和设计系统的H∞滤波器,以保证滤波误差系统渐近稳定,并使滤波器达到H∞性能指标.滤波器参数通过求解线性矩阵不等式来确定.并通过例子以及与已有成果的比较验证了所得方法的有效性及优越性.
2.分别设计了非线性时滞与饱和Hamilton系统的鲁棒H∞滤波器.首先提出了一种基于Hamilton系统结构的非线性滤波器的结构,然后给出了相关的鲁棒H∞滤波器的设计方法,该方法充分考虑了时滞与饱和因素的影响,构造了与Hamilton系统结构相关的Lyapunov函数,给出了针对时滞(常时滞与变时滞)和饱和的处理方法.最后用仿真例子证明了方法的有效性.
3.利用Hamilton系统结构特性和T-S模糊控制的思想研究了一般非线性系统的稳定性及H∞滤波器设计问题.在充分考虑Hamilton系统结构特性的前提下,应用T-S模糊控制的思想首先将该非线性系统模糊化为多个模糊Hamilton子系统,然后分析了其稳定性,给出了一种模糊H∞滤波器的设计方法,并用例子加以验证.
4.针对非线性Hamilton网络系统,讨论了其鲁棒H∞控制及滤波问题.对于网络系统中存在不确定网络时延与丢包的问题,通过合理的假设及处理方法,将这些网络特有的性质转换为时变时滞,得到了满足H∞性能指标的执行器饱和及未饱和时的控制器及滤波器.最后通过电路系统的例子验证了方法的正确性.
The H∞filter problem is of both theoretical and practical importance in control design and signal processing, and has received wide attentions and researches. It is concerned with the design of dynamic systems guaranteeing the robustness against uncertain parameters and external noises, and makes no assumptions on the priori knowledge of the external noisies or precise mathematical models except for the only bounded energy. All these make the H∞filter has important application in practical engineering. However, practical filter systems are inherently subject to many non-linear effects which may restrict the operation, result in instability, deteriorate the performance indicators and even cause serious consequences. Saturation and time delay are two prominent factors and have received wide attentions. However, to our best knowledge, the existing results on the design of H∞filter for linear systems are either with time delay or with saturation. Moreover, there are fewer results for the nonlinear systems.
This paper investigates the H∞filter design problem for several classes of time-delay and saturation systems and its applications. The main contents of this thesis are composed of the following parts:
1. The design of robust H∞filter for a class of time-delay linear systems with saturation is investigated. A linear filter structure is given, and a new design method is proposed. Using the Lyapunov-Krasovskii stability theory and LMIs, we give some sufficient conditions for the existence of a feasible solution to the problem, which guarantee that the filtering error system is asymptotically stable and satisfy the H∞performance constraint for all admissible disturbances. In addition, we also establish a LMIs approach to the robust H∞filter design. Two practical examples as well as the comparison with the existing results verify the validity and superiority of this method.
2. The design of the robust H∞filter for the Hamiltonian systems with time delay or with saturation is studied. Based on the structure of Hamiltonian systems, we first propose a nonlinear filter structure. Then, considering the influence of time delay and saturation, we present methods for the filter design. Methods to handle time delay and saturation are given, respectively. Finally, simulation examples are studied to prove the validity of this method.
3. The stability analysis and H∞filter design for general nonlinear systems are considered, which are based on Hamiltonian structure and T-S fuzzy control. First, the nonlinear system is fuzzified into several fuzzy Hamiltonian subsystems. Then, its stability is analyzed, and a fuzzy H∞filter design method is given. Finally, a simulation example prove the validity of this method.
4. The design of robust H∞controller and filter for nonlinear Hamiltonian network systems is discussed. Based on reasonable assumptions and processing methods, we convert the uncertainty network time delay and packet loss into time-varying delay. Then, we obtain the design methods of the H∞controller and filter. Finally, examples on circuit systems testifies the validity of the method.
本论文研究了几类时滞饱和系统的H∞滤波器设计及应用问题,主要包括以下几方面的内容：
1.研究了一类同时存在时滞(含常时滞和时变时滞两种情形)与饱和的线性系统鲁棒H∞滤波器设计问题.给出了一种线性滤波器的结构,提出一种新的设计方法.该方法应用Lyapunov-Krasovskii稳定性理论和线性矩阵不等式(LMIs)方法,来分析和设计系统的H∞滤波器,以保证滤波误差系统渐近稳定,并使滤波器达到H∞性能指标.滤波器参数通过求解线性矩阵不等式来确定.并通过例子以及与已有成果的比较验证了所得方法的有效性及优越性.
2.分别设计了非线性时滞与饱和Hamilton系统的鲁棒H∞滤波器.首先提出了一种基于Hamilton系统结构的非线性滤波器的结构,然后给出了相关的鲁棒H∞滤波器的设计方法,该方法充分考虑了时滞与饱和因素的影响,构造了与Hamilton系统结构相关的Lyapunov函数,给出了针对时滞(常时滞与变时滞)和饱和的处理方法.最后用仿真例子证明了方法的有效性.
3.利用Hamilton系统结构特性和T-S模糊控制的思想研究了一般非线性系统的稳定性及H∞滤波器设计问题.在充分考虑Hamilton系统结构特性的前提下,应用T-S模糊控制的思想首先将该非线性系统模糊化为多个模糊Hamilton子系统,然后分析了其稳定性,给出了一种模糊H∞滤波器的设计方法,并用例子加以验证.
4.针对非线性Hamilton网络系统,讨论了其鲁棒H∞控制及滤波问题.对于网络系统中存在不确定网络时延与丢包的问题,通过合理的假设及处理方法,将这些网络特有的性质转换为时变时滞,得到了满足H∞性能指标的执行器饱和及未饱和时的控制器及滤波器.最后通过电路系统的例子验证了方法的正确性.
The H∞filter problem is of both theoretical and practical importance in control design and signal processing, and has received wide attentions and researches. It is concerned with the design of dynamic systems guaranteeing the robustness against uncertain parameters and external noises, and makes no assumptions on the priori knowledge of the external noisies or precise mathematical models except for the only bounded energy. All these make the H∞filter has important application in practical engineering. However, practical filter systems are inherently subject to many non-linear effects which may restrict the operation, result in instability, deteriorate the performance indicators and even cause serious consequences. Saturation and time delay are two prominent factors and have received wide attentions. However, to our best knowledge, the existing results on the design of H∞filter for linear systems are either with time delay or with saturation. Moreover, there are fewer results for the nonlinear systems.
This paper investigates the H∞filter design problem for several classes of time-delay and saturation systems and its applications. The main contents of this thesis are composed of the following parts:
1. The design of robust H∞filter for a class of time-delay linear systems with saturation is investigated. A linear filter structure is given, and a new design method is proposed. Using the Lyapunov-Krasovskii stability theory and LMIs, we give some sufficient conditions for the existence of a feasible solution to the problem, which guarantee that the filtering error system is asymptotically stable and satisfy the H∞performance constraint for all admissible disturbances. In addition, we also establish a LMIs approach to the robust H∞filter design. Two practical examples as well as the comparison with the existing results verify the validity and superiority of this method.
2. The design of the robust H∞filter for the Hamiltonian systems with time delay or with saturation is studied. Based on the structure of Hamiltonian systems, we first propose a nonlinear filter structure. Then, considering the influence of time delay and saturation, we present methods for the filter design. Methods to handle time delay and saturation are given, respectively. Finally, simulation examples are studied to prove the validity of this method.
3. The stability analysis and H∞filter design for general nonlinear systems are considered, which are based on Hamiltonian structure and T-S fuzzy control. First, the nonlinear system is fuzzified into several fuzzy Hamiltonian subsystems. Then, its stability is analyzed, and a fuzzy H∞filter design method is given. Finally, a simulation example prove the validity of this method.
4. The design of robust H∞controller and filter for nonlinear Hamiltonian network systems is discussed. Based on reasonable assumptions and processing methods, we convert the uncertainty network time delay and packet loss into time-varying delay. Then, we obtain the design methods of the H∞controller and filter. Finally, examples on circuit systems testifies the validity of the method.
引文
[1]Wiener N. Extrapolation interpolation, and smoothing of stationary time se-ries.1950. New York:Wiley.
[2]Kalman R E. A new approach to linear filtering and prediction problem. Transactions of the ASME-Jounal of Basic Engineering,1960,82(D):35-45.
[3]Zames G. Feedback and optimal sensitivity:model reference and transfor-mations,multiplicative seminorms and approximate inverses. IEEE namac-tions on Automatic Control,1981,26:301-320.
[4]Elsayed A, Grimble M J. A new approach to the H∞ optimal digital linear fil-ters. IMA Journal of Mathematical Control and Information,1989,6(2):233-251.
[5]Takaba K, Katayama T. Discrete—time H∞ algebric Riccati equation and Parameterization of all H∞ filters. International Journal of Control,1996,64: 1129-1149.
[6]Fu M, C E de Souza. H∞ estimation for uncertain systems. International Journal of Robust and Nonlinear Control,1992,2(3):87-105.
[7]Yang G H, Guo X G. Insensitive H∞ filter design for continuous-time systems with respect to filter coefficient variations. Automatica,2010,46(11):1860-1869.
[8]An J Y, Wen G L, Gan N F, Li R F. A delay-derivative-dependent approach to robust H∞ filter design for uncertain systems with time-varying distributed delays. Journal of the Franklin Institute,2011,348(2):179-200.
[9]Zhang X M, Han Q L. Delay-dependent robust H∞ filtering for uncertain discrete-time systems with time-varying delay based on a finite sum inequal-ity. IEEE Transactions on Circuits and Systems,2006,53(12):1446-1470.
[10]He X, Wang Z D, Zhou D. Robust H∞ filtering for networked systems with multiple state delays. International Journal of Control,2007,80(8):1217-1232.
[11]Tseng C S. Robust fuzzy filter design for a class of nonlinear stochastic sys-tems. IEEE Transactions on Fuzzy systems,2007,15(2):261-274.
[12]Gao H J, Chen T W. H∞ estimation for uncertain systems with limited com-munication capacity. IEEE Transactions on Automatic Control,2007,52(10): 2070-2084.
[13]Qiu J B, Feng G, Yang J. Improved delay-dependent H∞ filtering design for discrete-time polytopic linear delay systems. IEEE Transactions on Circuits and Systems,2008,55(2):178-182.
[14]Abbaszadeh M, Marquez H J. Nonlinear robust H-infinity filtering for a class of uncertain systems via convex optimization. J Control Theory Appl,2012, 10(2):152-158.
[15]Lee S M, Ji D H, Kwon O M. Robust H∞ filtering for a class of discrete-time nonlinear systems. Applied Mathematics and Computation,2011,217(12): 7991-7997.
[16]Gao H J, Chen T W. New results on stability of discrete-time systems with time-varying state delays. IEEE Transactions on Automatic Control,2007, 52(2):328-334.
[17]Zhang H S, Zhang D, Xie L H. An innovation approach to H∞ prediction with application to systems with delayed measurements. Automatica,2004,40(7): 1253-1261.
[18]Gao H J, Meng X Y, Chen T W. A parameter-dependent approach to robust H∞ filtering for time-delay systems. IEEE Transactions on Automatic Con-trol,2008,53(10):2420-2425.
[19]Fu M Y. Interpolation approach to H∞ optimal estimation and its intercon-nection to loop transfer recovery. Systems and Control Letters,1991,17(1): 29-36.
[20]Fridman E, Shaked U. A new H∞ flter design for linear time delay systems. IEEE Transactions on Signal Processing,2001,49(11):2839-2843.
[21]Pila A W, Shaked U, Souza C E D. H∞ filtering for continuous-time linear systems with delay. IEEE Transcations on Automatic Control,1999,44(7): 1412-1417.
[22]Wang Z D, Huang B, Unbehauenc H. Robust H∞ observer design of linear time-delay systems with parametric uncertainty. Systems and Control Letters, 2001,42(4):303-312.
[23]Gao H, Wang C. A delay-dependent approach to robust H∞ filtering for un-certain discrete-time state-delayed systems. IEEE Transactions on Signal Pro-cessing,2004,52(6):1631-1640.
[24]Palhares R M, Souza C E D, Peres P L D. Robust H∞ filtering for uncertain discrete-time state-delayed systems. IEEE Transactions on Signal Processing, 2001,49(8):1696-1703.
[25]Xie L H, Liu L L, Zhang D, Zhang H S. Improved robust H2 and H∞ filtering for uncertain discrete-time systems. Automatica,2004,40(5):873-880.
[26]Souza C E D, Barbosa K A, Neto A T. Robust H∞ filtering for discretetime linear systems with uncertain time-varying parameters. IEEE Transactions on Signal Processing,2006,54(6):2110-2118.
[27]Shaked U, Berman N. Robust filtering for a class of discrete-time uncertain nonlinear systems:an H∞ approach. International Journal of Robust and Nonlinear Control,1996,6(4):297-312.
[28]Shaked U, Berman N. H∞ nonlinear filtering of discrete—time processes. IEEE Transactions on Signal Processing,1995,43(9):2205-2209.
[29]Kourad R, Frank S, Rolf U. Nonlinear state observation using H∞ filtering Riccati design. IEEE Transactions on Automatic Control,1999,44(1):203-208.
[30]Thcodor Y, Shaked U.A game theory approach to robust discrete-time H∞ estimation. IEEE Transactions on Signal Processing,1994,42(6):1486-1495.
[31]Berman N, Shaked U. H∞ nonlinear filtering. Journal of Robust and Non-linear Control,1996,6(6):281-296.
[32]Nguang S K, Peng S. Nonlinear H∞ filtering of sampled—data systems. Au-tomatica,2000,36(4):303-310.
[33]Qiu J, Feng G, Yang J. A new design of delay-dependent robust H∞ filtering for discrete-time T-S fuzzy systems with time-varying delay. IEEE Transac-tions on Fuzzy Systems,2009,17(5):1044-1058.
[34]An J Y, Wen G L, Lin C, Li R F. New results on delay-derivative-dependent fuzzy H∞ filter design for T-S fuzzy systems. IEEE Transactions on Fuzzy Systems,2011,19(4):770-779.
[35]Wang H O, Tanaka K, Griffin M F. An approach to fuzzy control of nonlinear systems:stability and design issues. IEEE Transactions on Fuzzy Systems, 1996,4(1):14-23.
[36]Johansson M, Rantzer A, Arzen K E. Piecewise quadratic stability of fuzzy systems. IEEE Transactions on Fuzzy Systems,1999,7(6):713-722.
[37]Feng G, Lee T H, Zhang N. Stable filter design of fuzzy dynamic systems. IEEE International Conference on Fuzzy Systems,1998, (1):475-480.
[38]Nguang S K, Assawinchaichote W. H∞ filtering for fuzzy dynamical systems with D stability constraints. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications,2003,50(11):1503-1508.
[39]Assawinchaichote W, Nguang S K. H∞ filtering for fuzzy singularly per-turbed systems with pole placement constraints:an LMI approach. IEEE Transactions on Signal Processing,2004,52(6):1659-1667.
[40]Chen B S, Tsai C L, Chen D S. Robust H∞ and mixed H2/H∞ filters for equalization designs of nonlinear communication systems:fuzzy iterpolation approach. IEEE Transactions on Fuzzy Systems,2003,11(3):384-398.
[41]伦淑贤,张化光.一类非线性时滞离散系统模糊H∞滤波器的设计.电子学报,2005,33(2)：231-235.
[42]Lun S X, Zhang H G, Liu D R. Fuzzy hyperbolic H∞ filter design for a class of nonlinear continuous-time dynamic systems.43rd IEEE Conference on De-cision and Control,2004:225-230.
[43]Xu S Y, Lam J. Exponential H∞ filter design for uncertain Takagi-Sugeno fuzzy systems with time delay. Engineering Applications of Artificial Intelli-gence,2004,17(6):645-659.
[44]Zeng K, Zhang N Y, Xu W L. A comparative study on suffcient conditions for Takagi-Sugeno fuzzy systems as universal approximators. IEEE Transactions on Fuzzy Systems,2000,8(6):773-780.
[45]Ying H. General SISO Takagi-Sugeno fuzzy systems with linear rule con-sequent are universal approximators. IEEE Transactions on Fuzzy Systems, 1998,6(4):582-587.
[46]Rajesh R, Kaimal M R. T-S fuzzy model with nonlinear consequence and PDC controller for a class of nonlinear control systems. Applied Soft Comput-ing,2007,7:772-782.
[47]Wei A R, Wang Y Z. Stabilization and H∞ control of nonlinear prot-controlled Hamiltonian systems subject to actuator saturation. Automatica, 2010,46(12):2008-2013.
[48]Bellman R, Cooke K L. Defferential-difference equations.1963. New York: Academic Press.
[49]Gorecki H, Fuksa P, Grabowskii P, et al. Analysis and synthesis of time-delay systems.1989. Warszawa:polish Scientific publishers.
[50]Guan Z, Chen G. On delayed impulsive Hopfield neural networks. Neural Networks,1999,12(2):273-280.
[51]Hale J K, Verduyn Lunel S M. Introduction to Functional Differential Equa-tion.1993, New York:Springer.
[52]Richard J P. Time-delay systems:an overview of some recent advances and open problems. Automatica,2003,39(10):1667-1694.
[53]Zhong Q. Robust Control of Time-Delay Systems.2006, Berlin:Springer.
[54]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(3):171-1837.
[55]Moon Y S, Park P, Kwon W H, Lee Y S. Delay-dependent robust stabilization of uncertain time-delayed systems. International Journal of Control,2001, 74(14):1447-1455.
[56]Gomes D, Tarbouriech S, Garcia G. Antiwindup design with guaranteed re-gions of stability:an LMI-based approach. IEEE Transactions on Automatic Control,2005,50(1):105-111.
[57]Hu T S, Lin Z L. Control systems with actuator saturation:analysis and de-sign.2001, Springer:Springer Press.
[58]Saberi A, Lin Z L, Teel A R. Control of linear systems with saturating actua-tors. IEEE Transactions on Automatic Control,1996,41(3):368-378.
[59]Tarbouriech S, Garcia G, Glattfelder H. Lecture notes in control and informa-tion sciences. Advanced strategies in control systems with input and output contraints.2007, Berlin:Springer-Verlag Press.
[60]王瑞芬,贾廷纲,牛玉刚.一类控制输入饱和受限的不确定系统滑模控制.控制理论与应用,2011,28(9)：1154-1158.
[61]Wei A R, Wang Y Z. On estimation of attraction domain for port-controlled Hamiltonian systems subject to actuator saturation.J Control Theory Appl, 2012,10(2):195-200.
[62]He Y, Wang Q G, Lin C, Wu M. Delay-range-dependent stability for systems with time-varying delay. Automatica,2007,43(2):371-376.
[63]Geromel J C, Oliveira M C, Bernussou J. Robust filtering of discrete-time linear systems with parameter dependent lyapunov functions. SIAM Journal on Control and Optimization,2002,41(3):700-711.
[64]Zhang W, Braniky M S, Phillips M S. Stability of networked control systems. IEEE Control Systems Magazine,2001,21(1):84-99.
[65]Hespanha J P, Naghshtabrizi P, Xu Y G. A survey of recent results in net-worked control systems. Proc. of the IEEE,2007,95(1):138-162.
[66]Lian F L, Moyne R J, Tibury D M. Performance evaluation of control networks-Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Mag-azine,2001,21(11):66-83.
[67]Wang Y, Feng G. Finite-time stabilization of port-controlled Hamiltonian sys-tems with applicatioin to nonlinear affine systems. American contral confer-ence, Westin Seattle Hotel, Seattle,2008, Washington, USA:1202-1207.
[68]Pasumarthy R, Kao C Y. On stability of time-delay Hamiltonian systems. American control conference,2009,4909-4914.
[69]Yang R, Wang Y. Stability for a class of nonlinear time-delay systems via Hamiltonian functional method. Science China:Information Sciences,2012, 55(5):1218-1228.
[70]Yang R, Wang Y. Finite-time stability analysis and H∞ control for a class of nonlinear time-delay Hamiltonian systems. Automatica,2013,49(2):390-401.
[71]王玉振.广义Hamilton控制系统理论-实现、控制与应用.2007.北京,科学出版社.
[72]Ortega R, Galaz M, Astolfi A, et al.. Transient stabilization of multi-machine power systems with nontrivial transfer conductances. IEEE Trans, on Au-tomat. Contr.,2005,50(1):60-75.
[73]Ortega R, Spong M W, Gomez-Estern F, Stabilization of underactuated me-chanical systems via interconnection and damping assignment. IEEE Trans. Autom. Contr.,2002,47(8):1218-1233.
[74]Shen T, Ortega R, Lu Q, et al.. Adaptive L2-disturbance attenuation of Hamil-tonian systems with parameter perturbations and application to power sys-tems. Proceedings of the 39th IEEE Conference on Decision and Control, New York,2000,5:4939-4944.
[75]Sun Y, Shen T, Ortega R, et al.. Decentralized controller design for multima-chine power systems on Hamiltonian structure. Proceedings of the 40th IEEE Conference on Decision and Control,2001, Orlando, New York.
[76]Wang Y, Feng G, Cheng D, et al.. Adaptive L2 disturbance attenuation control of multi-machine power systems with SMES units. Automatica,2006,42(7): 1121-1132.
[77]Wang Y, Cheng D, Hong Y. Stabilization of synchrous generators with Hamil-tonian function approach. International Journal of Systems Science,2001, 32(8):971-978.
[78]Wang Y, Cheng D, Liu Y, Li C. Adaptive H∞ excitation control of multima-chine power systems via the Hamiltonian function method. Int. J. Control, 2004,77(4):336-350.
[79]Galaz M, Ortega R, Bazanella A S, Stankovic A M. An energy-shaping ap-proach to the design of excitation control of synchronous generators. Auto-matica,2003,39(1):111-119.
[80]Wang Y, Cheng D, Li C, et al.. Dissipative Hamiltonian realization and ener-gybased L2-disturbance attenuation control of multimachine power systems. IEEE Trans. on Autom. Contn,2003,48(8):1428-1433.
[81]Xi Z, Cheng D, Lu Q, et al.. Nonlinear decentralized controller design for multimachine power systems using Hamiltonian function method. Automat-ica,2002,38(3):527-534.
[82]Wang Y, Li C, Cheng D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica,2003,39(4):1437-1443.
[83]Wang Y, Cheng D, Hu X. Problems on time-varying Hamiltonian systems:ge-ometric structure and dissipative Hamiltonian realization. Automatica,2005, 41(5):717-723.
[84]Sun W. Stabilization analysis of time-delay Hamiltonian systems in the pres-ence of saturation. Applied Mathematics and Computation,2011,217:9625-9634.
[85]Sun W, Lin Z, Wang Y. Global asymptotic and finite-gain L2 stabilization of port-controlled Hamiltonian systems subject to actuator saturation. American control conference,2009, St. Louis,1894-1898.
[86]Bernstein D S, Michel A N. A chronological bibliography on saturating ac-tuators. International Journal of Robust and Nonlinear Control,1995,5(5): 375-380.
[87]Stoorvogel A A, Saberi A, Weiland S. On external semi-global stochastic sta-bilization of linear systems with input saturation. American control confer-ence,2007, New York,58450-5850.
[88]Coutinho D F, Gomes da Silva, J M Jr. Computing of the region of attraction for rational control systems with saturating actuators. IET Control Theory and Applications,2010,4(3):315-325.
[89]Zhang Z J, Xiao X Q, Zhou L. Robust H∞ filtering for continuous-time linear systems under measurement saturation. IMA Journal of Mathematical Control and Information,2011,28(3):365-375.
[90]Yang F W, Li Y M. Set-membership filtering for systems with sensor satura-tion. Automatica,2009,45(8):1896-1902.
[91]Wang Z D, Shen B, Liu X H. H∞ filtering with randomly occurring sensor saturations and missing measurements. Automatica,2012,48(3):556-562.
[92]Xiao Y F, Cao Y Y, LIN Z L. Robust Filtering for Discrete-Time Systems With Saturation and Its Application to Transmultiplexers. IEEE Transactions on Signal Processing,2004,52(5):1266-1277.
[93]Hu T, Lin Z, Chen B M. An analysis an design method for linear systems subject to actuator saturation and disturbance. Antomatica,2002,38(2):351-359.
[94]Hu T, Lin Z, Chen B M. Analysis and design for discrete-time systems sub-ject to actuator saturation. Systems and Control Letters,2002,45(2):87-112.
[95]Takagi T, Sugeno M. Fuzzy identification of systems and its ap-plications to modeling and control. IEEE Trans. Syst., Man, Cybern.,1985, SMC-15(1): 116-132.
[96]Ding Y S, Ying H, Shao S H. Structure and stability analysis of a Takagi-Sugeno fuzzy PI controller with application to tissue hyperthermia therapy. Soft Computing,1999,2(4):183-190.
[97]张吉礼,欧进萍,于达仁.基于相平面轨迹特征的规则自调整模糊控制方法.控制理论与应用,2003,20(4)：607-611.
[98]Abdelnour Q, Cheng J Y, Chang C. Application of describing functions in the transient response analysis of a three-term fuzzy control. IEEE Tnarsaetions on Sysetms,1993,23(2):603-606.
[99]Lo J C, Lin Y T. State feedback via circle criterion for systems subject to in-put saturations. IEEE International Conference on Networking,2004, Sensing and Control, Taiwan,2:920-925.
[100]Glower J S, Munighna J. Desinging fuzzy controllers from a variable structure standpoint. IEEE Transactions on Fuzzy Systems,1997,5(1):138-144.
[101]Htani Y O,Yoshimura T. Fuzzy control of manipulator using the concept of sliding mode, International Jounral of Sysetms Science,1996,27(2):179-186.
[102]Tabouriech S, Gomes D. Synthesis of controllers for continuous-time delay systems with saturating controls via LMIs. IEEE Transactions on Automatic Control,2000,45(1):105-111.
[103]Liu M Q, Li X R. Optimal robust H∞ fusion filters for time-delayed systems with multiple saturation nonlinear sensors. In 12th International Conference on Information Fusion,2009, Seattle, WA, USA:1520-1527.
[104]Shi T, Su H Y, Chu J. Robust H∞ control for uncertain discrete-time Marko-vian jump systems with actuator saturation. Control Theory Application, 2011,9(4):465-471.
[105]Hong X F, Wang Y Z, Li H T. Robust H∞ filter design for time-delay systems with saturation. International Journal of Automation and Computing,2013, 10(4):368-374.
[106]Hong X F, Wang Y Z. Robust H∞ filter for a class of uncertain systems with time-varying delay and saturation. Control Theory and Applications,2012, 29(10):1245-1252.
[107]Du Z P, Zhang Q L, Liu L L. Delay-dependent robust stabilization for un-certain singular systems with multiple input delays. Acta Automatica Sinica, 2009,35(2):162-167.
[108]Chen W S, Li R H, Li J. Observer-based adaptive iterative learning control for nonlinear systems with time varying delays. International Journal of Au-tomation and Computing,2010,7(4):438-446.
[109]Zhang C L, Li J M. Adaptive iterative learning control for nonlinear time-delay systems with periodic disturbances using FSE-neural network. Interna-tional Journal of Automation and Computing,2011,8(4):403-410.
[110]He Y, Wang Q G, Lin C, Wu M. Delay-range-dependent stability for systems with time-varying delay. Automatica,2007,43(2):371-376.
[111]Gao H J, Chen T W. New results on stability of discrete-time systems with time-varying state delays. IEEE Transactions on Automatic Control,2007, 52(2):328-334.
[112]Qiu J B, Feng G, Yang J. A new design of delay-dependent robust H∞ filtering for continuous-time polytopic systems with time-varying delay. International Journal of Robust and Nonlinear Control,2010,20(3),:346-365.
[113]Li D, Li J M. Adaptive iterative learning control for nonlinearly parameterized systems with unknown time-varying delay and unknown control direction. International Journal of Automation and Computing,2012,9(6):578-586.
[114]Wang Y, Cheng D, Hong Y. Stabilization of synchronous generators with the Hamiltonian function approach. International Journal of Systems Science, 2001,32(8):971-978.
[115]Romeo Ortegaa, Arjan van der Schaftb, Bernhard Maschkec, Gerardo Esco-bar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica,2002,38(4),585-596.
[116]Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica,2003,39(12),2059-2069.
[117]Wang Y, Cheng D, Li C, Ge Y. Dissipative Hamiltonian realization and energy-based L2 disturbance attenuation control of multimachine power sys-tems. IEEE Transactions on Automatic Control,2003,48(8),1428-1433.
[118]Wang Y, Li C, Cheng D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica,2003,39(8):1437-1443.
[119]Wang Y, Feng G, Cheng D. Adaptive L2 disturbance attenuation control of multimachine power systems with SMES units. Automatica,2006,42(7): 1121-1132.
[120]孙丽瑛,王玉振.一类非线性奇异Hamilton系统的H∞控制.中国科学,2010,40(11)：1519-1529.
[2]Kalman R E. A new approach to linear filtering and prediction problem. Transactions of the ASME-Jounal of Basic Engineering,1960,82(D):35-45.
[3]Zames G. Feedback and optimal sensitivity:model reference and transfor-mations,multiplicative seminorms and approximate inverses. IEEE namac-tions on Automatic Control,1981,26:301-320.
[4]Elsayed A, Grimble M J. A new approach to the H∞ optimal digital linear fil-ters. IMA Journal of Mathematical Control and Information,1989,6(2):233-251.
[5]Takaba K, Katayama T. Discrete—time H∞ algebric Riccati equation and Parameterization of all H∞ filters. International Journal of Control,1996,64: 1129-1149.
[6]Fu M, C E de Souza. H∞ estimation for uncertain systems. International Journal of Robust and Nonlinear Control,1992,2(3):87-105.
[7]Yang G H, Guo X G. Insensitive H∞ filter design for continuous-time systems with respect to filter coefficient variations. Automatica,2010,46(11):1860-1869.
[8]An J Y, Wen G L, Gan N F, Li R F. A delay-derivative-dependent approach to robust H∞ filter design for uncertain systems with time-varying distributed delays. Journal of the Franklin Institute,2011,348(2):179-200.
[9]Zhang X M, Han Q L. Delay-dependent robust H∞ filtering for uncertain discrete-time systems with time-varying delay based on a finite sum inequal-ity. IEEE Transactions on Circuits and Systems,2006,53(12):1446-1470.
[10]He X, Wang Z D, Zhou D. Robust H∞ filtering for networked systems with multiple state delays. International Journal of Control,2007,80(8):1217-1232.
[11]Tseng C S. Robust fuzzy filter design for a class of nonlinear stochastic sys-tems. IEEE Transactions on Fuzzy systems,2007,15(2):261-274.
[12]Gao H J, Chen T W. H∞ estimation for uncertain systems with limited com-munication capacity. IEEE Transactions on Automatic Control,2007,52(10): 2070-2084.
[13]Qiu J B, Feng G, Yang J. Improved delay-dependent H∞ filtering design for discrete-time polytopic linear delay systems. IEEE Transactions on Circuits and Systems,2008,55(2):178-182.
[14]Abbaszadeh M, Marquez H J. Nonlinear robust H-infinity filtering for a class of uncertain systems via convex optimization. J Control Theory Appl,2012, 10(2):152-158.
[15]Lee S M, Ji D H, Kwon O M. Robust H∞ filtering for a class of discrete-time nonlinear systems. Applied Mathematics and Computation,2011,217(12): 7991-7997.
[16]Gao H J, Chen T W. New results on stability of discrete-time systems with time-varying state delays. IEEE Transactions on Automatic Control,2007, 52(2):328-334.
[17]Zhang H S, Zhang D, Xie L H. An innovation approach to H∞ prediction with application to systems with delayed measurements. Automatica,2004,40(7): 1253-1261.
[18]Gao H J, Meng X Y, Chen T W. A parameter-dependent approach to robust H∞ filtering for time-delay systems. IEEE Transactions on Automatic Con-trol,2008,53(10):2420-2425.
[19]Fu M Y. Interpolation approach to H∞ optimal estimation and its intercon-nection to loop transfer recovery. Systems and Control Letters,1991,17(1): 29-36.
[20]Fridman E, Shaked U. A new H∞ flter design for linear time delay systems. IEEE Transactions on Signal Processing,2001,49(11):2839-2843.
[21]Pila A W, Shaked U, Souza C E D. H∞ filtering for continuous-time linear systems with delay. IEEE Transcations on Automatic Control,1999,44(7): 1412-1417.
[22]Wang Z D, Huang B, Unbehauenc H. Robust H∞ observer design of linear time-delay systems with parametric uncertainty. Systems and Control Letters, 2001,42(4):303-312.
[23]Gao H, Wang C. A delay-dependent approach to robust H∞ filtering for un-certain discrete-time state-delayed systems. IEEE Transactions on Signal Pro-cessing,2004,52(6):1631-1640.
[24]Palhares R M, Souza C E D, Peres P L D. Robust H∞ filtering for uncertain discrete-time state-delayed systems. IEEE Transactions on Signal Processing, 2001,49(8):1696-1703.
[25]Xie L H, Liu L L, Zhang D, Zhang H S. Improved robust H2 and H∞ filtering for uncertain discrete-time systems. Automatica,2004,40(5):873-880.
[26]Souza C E D, Barbosa K A, Neto A T. Robust H∞ filtering for discretetime linear systems with uncertain time-varying parameters. IEEE Transactions on Signal Processing,2006,54(6):2110-2118.
[27]Shaked U, Berman N. Robust filtering for a class of discrete-time uncertain nonlinear systems:an H∞ approach. International Journal of Robust and Nonlinear Control,1996,6(4):297-312.
[28]Shaked U, Berman N. H∞ nonlinear filtering of discrete—time processes. IEEE Transactions on Signal Processing,1995,43(9):2205-2209.
[29]Kourad R, Frank S, Rolf U. Nonlinear state observation using H∞ filtering Riccati design. IEEE Transactions on Automatic Control,1999,44(1):203-208.
[30]Thcodor Y, Shaked U.A game theory approach to robust discrete-time H∞ estimation. IEEE Transactions on Signal Processing,1994,42(6):1486-1495.
[31]Berman N, Shaked U. H∞ nonlinear filtering. Journal of Robust and Non-linear Control,1996,6(6):281-296.
[32]Nguang S K, Peng S. Nonlinear H∞ filtering of sampled—data systems. Au-tomatica,2000,36(4):303-310.
[33]Qiu J, Feng G, Yang J. A new design of delay-dependent robust H∞ filtering for discrete-time T-S fuzzy systems with time-varying delay. IEEE Transac-tions on Fuzzy Systems,2009,17(5):1044-1058.
[34]An J Y, Wen G L, Lin C, Li R F. New results on delay-derivative-dependent fuzzy H∞ filter design for T-S fuzzy systems. IEEE Transactions on Fuzzy Systems,2011,19(4):770-779.
[35]Wang H O, Tanaka K, Griffin M F. An approach to fuzzy control of nonlinear systems:stability and design issues. IEEE Transactions on Fuzzy Systems, 1996,4(1):14-23.
[36]Johansson M, Rantzer A, Arzen K E. Piecewise quadratic stability of fuzzy systems. IEEE Transactions on Fuzzy Systems,1999,7(6):713-722.
[37]Feng G, Lee T H, Zhang N. Stable filter design of fuzzy dynamic systems. IEEE International Conference on Fuzzy Systems,1998, (1):475-480.
[38]Nguang S K, Assawinchaichote W. H∞ filtering for fuzzy dynamical systems with D stability constraints. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications,2003,50(11):1503-1508.
[39]Assawinchaichote W, Nguang S K. H∞ filtering for fuzzy singularly per-turbed systems with pole placement constraints:an LMI approach. IEEE Transactions on Signal Processing,2004,52(6):1659-1667.
[40]Chen B S, Tsai C L, Chen D S. Robust H∞ and mixed H2/H∞ filters for equalization designs of nonlinear communication systems:fuzzy iterpolation approach. IEEE Transactions on Fuzzy Systems,2003,11(3):384-398.
[41]伦淑贤,张化光.一类非线性时滞离散系统模糊H∞滤波器的设计.电子学报,2005,33(2)：231-235.
[42]Lun S X, Zhang H G, Liu D R. Fuzzy hyperbolic H∞ filter design for a class of nonlinear continuous-time dynamic systems.43rd IEEE Conference on De-cision and Control,2004:225-230.
[43]Xu S Y, Lam J. Exponential H∞ filter design for uncertain Takagi-Sugeno fuzzy systems with time delay. Engineering Applications of Artificial Intelli-gence,2004,17(6):645-659.
[44]Zeng K, Zhang N Y, Xu W L. A comparative study on suffcient conditions for Takagi-Sugeno fuzzy systems as universal approximators. IEEE Transactions on Fuzzy Systems,2000,8(6):773-780.
[45]Ying H. General SISO Takagi-Sugeno fuzzy systems with linear rule con-sequent are universal approximators. IEEE Transactions on Fuzzy Systems, 1998,6(4):582-587.
[46]Rajesh R, Kaimal M R. T-S fuzzy model with nonlinear consequence and PDC controller for a class of nonlinear control systems. Applied Soft Comput-ing,2007,7:772-782.
[47]Wei A R, Wang Y Z. Stabilization and H∞ control of nonlinear prot-controlled Hamiltonian systems subject to actuator saturation. Automatica, 2010,46(12):2008-2013.
[48]Bellman R, Cooke K L. Defferential-difference equations.1963. New York: Academic Press.
[49]Gorecki H, Fuksa P, Grabowskii P, et al. Analysis and synthesis of time-delay systems.1989. Warszawa:polish Scientific publishers.
[50]Guan Z, Chen G. On delayed impulsive Hopfield neural networks. Neural Networks,1999,12(2):273-280.
[51]Hale J K, Verduyn Lunel S M. Introduction to Functional Differential Equa-tion.1993, New York:Springer.
[52]Richard J P. Time-delay systems:an overview of some recent advances and open problems. Automatica,2003,39(10):1667-1694.
[53]Zhong Q. Robust Control of Time-Delay Systems.2006, Berlin:Springer.
[54]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(3):171-1837.
[55]Moon Y S, Park P, Kwon W H, Lee Y S. Delay-dependent robust stabilization of uncertain time-delayed systems. International Journal of Control,2001, 74(14):1447-1455.
[56]Gomes D, Tarbouriech S, Garcia G. Antiwindup design with guaranteed re-gions of stability:an LMI-based approach. IEEE Transactions on Automatic Control,2005,50(1):105-111.
[57]Hu T S, Lin Z L. Control systems with actuator saturation:analysis and de-sign.2001, Springer:Springer Press.
[58]Saberi A, Lin Z L, Teel A R. Control of linear systems with saturating actua-tors. IEEE Transactions on Automatic Control,1996,41(3):368-378.
[59]Tarbouriech S, Garcia G, Glattfelder H. Lecture notes in control and informa-tion sciences. Advanced strategies in control systems with input and output contraints.2007, Berlin:Springer-Verlag Press.
[60]王瑞芬,贾廷纲,牛玉刚.一类控制输入饱和受限的不确定系统滑模控制.控制理论与应用,2011,28(9)：1154-1158.
[61]Wei A R, Wang Y Z. On estimation of attraction domain for port-controlled Hamiltonian systems subject to actuator saturation.J Control Theory Appl, 2012,10(2):195-200.
[62]He Y, Wang Q G, Lin C, Wu M. Delay-range-dependent stability for systems with time-varying delay. Automatica,2007,43(2):371-376.
[63]Geromel J C, Oliveira M C, Bernussou J. Robust filtering of discrete-time linear systems with parameter dependent lyapunov functions. SIAM Journal on Control and Optimization,2002,41(3):700-711.
[64]Zhang W, Braniky M S, Phillips M S. Stability of networked control systems. IEEE Control Systems Magazine,2001,21(1):84-99.
[65]Hespanha J P, Naghshtabrizi P, Xu Y G. A survey of recent results in net-worked control systems. Proc. of the IEEE,2007,95(1):138-162.
[66]Lian F L, Moyne R J, Tibury D M. Performance evaluation of control networks-Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Mag-azine,2001,21(11):66-83.
[67]Wang Y, Feng G. Finite-time stabilization of port-controlled Hamiltonian sys-tems with applicatioin to nonlinear affine systems. American contral confer-ence, Westin Seattle Hotel, Seattle,2008, Washington, USA:1202-1207.
[68]Pasumarthy R, Kao C Y. On stability of time-delay Hamiltonian systems. American control conference,2009,4909-4914.
[69]Yang R, Wang Y. Stability for a class of nonlinear time-delay systems via Hamiltonian functional method. Science China:Information Sciences,2012, 55(5):1218-1228.
[70]Yang R, Wang Y. Finite-time stability analysis and H∞ control for a class of nonlinear time-delay Hamiltonian systems. Automatica,2013,49(2):390-401.
[71]王玉振.广义Hamilton控制系统理论-实现、控制与应用.2007.北京,科学出版社.
[72]Ortega R, Galaz M, Astolfi A, et al.. Transient stabilization of multi-machine power systems with nontrivial transfer conductances. IEEE Trans, on Au-tomat. Contr.,2005,50(1):60-75.
[73]Ortega R, Spong M W, Gomez-Estern F, Stabilization of underactuated me-chanical systems via interconnection and damping assignment. IEEE Trans. Autom. Contr.,2002,47(8):1218-1233.
[74]Shen T, Ortega R, Lu Q, et al.. Adaptive L2-disturbance attenuation of Hamil-tonian systems with parameter perturbations and application to power sys-tems. Proceedings of the 39th IEEE Conference on Decision and Control, New York,2000,5:4939-4944.
[75]Sun Y, Shen T, Ortega R, et al.. Decentralized controller design for multima-chine power systems on Hamiltonian structure. Proceedings of the 40th IEEE Conference on Decision and Control,2001, Orlando, New York.
[76]Wang Y, Feng G, Cheng D, et al.. Adaptive L2 disturbance attenuation control of multi-machine power systems with SMES units. Automatica,2006,42(7): 1121-1132.
[77]Wang Y, Cheng D, Hong Y. Stabilization of synchrous generators with Hamil-tonian function approach. International Journal of Systems Science,2001, 32(8):971-978.
[78]Wang Y, Cheng D, Liu Y, Li C. Adaptive H∞ excitation control of multima-chine power systems via the Hamiltonian function method. Int. J. Control, 2004,77(4):336-350.
[79]Galaz M, Ortega R, Bazanella A S, Stankovic A M. An energy-shaping ap-proach to the design of excitation control of synchronous generators. Auto-matica,2003,39(1):111-119.
[80]Wang Y, Cheng D, Li C, et al.. Dissipative Hamiltonian realization and ener-gybased L2-disturbance attenuation control of multimachine power systems. IEEE Trans. on Autom. Contn,2003,48(8):1428-1433.
[81]Xi Z, Cheng D, Lu Q, et al.. Nonlinear decentralized controller design for multimachine power systems using Hamiltonian function method. Automat-ica,2002,38(3):527-534.
[82]Wang Y, Li C, Cheng D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica,2003,39(4):1437-1443.
[83]Wang Y, Cheng D, Hu X. Problems on time-varying Hamiltonian systems:ge-ometric structure and dissipative Hamiltonian realization. Automatica,2005, 41(5):717-723.
[84]Sun W. Stabilization analysis of time-delay Hamiltonian systems in the pres-ence of saturation. Applied Mathematics and Computation,2011,217:9625-9634.
[85]Sun W, Lin Z, Wang Y. Global asymptotic and finite-gain L2 stabilization of port-controlled Hamiltonian systems subject to actuator saturation. American control conference,2009, St. Louis,1894-1898.
[86]Bernstein D S, Michel A N. A chronological bibliography on saturating ac-tuators. International Journal of Robust and Nonlinear Control,1995,5(5): 375-380.
[87]Stoorvogel A A, Saberi A, Weiland S. On external semi-global stochastic sta-bilization of linear systems with input saturation. American control confer-ence,2007, New York,58450-5850.
[88]Coutinho D F, Gomes da Silva, J M Jr. Computing of the region of attraction for rational control systems with saturating actuators. IET Control Theory and Applications,2010,4(3):315-325.
[89]Zhang Z J, Xiao X Q, Zhou L. Robust H∞ filtering for continuous-time linear systems under measurement saturation. IMA Journal of Mathematical Control and Information,2011,28(3):365-375.
[90]Yang F W, Li Y M. Set-membership filtering for systems with sensor satura-tion. Automatica,2009,45(8):1896-1902.
[91]Wang Z D, Shen B, Liu X H. H∞ filtering with randomly occurring sensor saturations and missing measurements. Automatica,2012,48(3):556-562.
[92]Xiao Y F, Cao Y Y, LIN Z L. Robust Filtering for Discrete-Time Systems With Saturation and Its Application to Transmultiplexers. IEEE Transactions on Signal Processing,2004,52(5):1266-1277.
[93]Hu T, Lin Z, Chen B M. An analysis an design method for linear systems subject to actuator saturation and disturbance. Antomatica,2002,38(2):351-359.
[94]Hu T, Lin Z, Chen B M. Analysis and design for discrete-time systems sub-ject to actuator saturation. Systems and Control Letters,2002,45(2):87-112.
[95]Takagi T, Sugeno M. Fuzzy identification of systems and its ap-plications to modeling and control. IEEE Trans. Syst., Man, Cybern.,1985, SMC-15(1): 116-132.
[96]Ding Y S, Ying H, Shao S H. Structure and stability analysis of a Takagi-Sugeno fuzzy PI controller with application to tissue hyperthermia therapy. Soft Computing,1999,2(4):183-190.
[97]张吉礼,欧进萍,于达仁.基于相平面轨迹特征的规则自调整模糊控制方法.控制理论与应用,2003,20(4)：607-611.
[98]Abdelnour Q, Cheng J Y, Chang C. Application of describing functions in the transient response analysis of a three-term fuzzy control. IEEE Tnarsaetions on Sysetms,1993,23(2):603-606.
[99]Lo J C, Lin Y T. State feedback via circle criterion for systems subject to in-put saturations. IEEE International Conference on Networking,2004, Sensing and Control, Taiwan,2:920-925.
[100]Glower J S, Munighna J. Desinging fuzzy controllers from a variable structure standpoint. IEEE Transactions on Fuzzy Systems,1997,5(1):138-144.
[101]Htani Y O,Yoshimura T. Fuzzy control of manipulator using the concept of sliding mode, International Jounral of Sysetms Science,1996,27(2):179-186.
[102]Tabouriech S, Gomes D. Synthesis of controllers for continuous-time delay systems with saturating controls via LMIs. IEEE Transactions on Automatic Control,2000,45(1):105-111.
[103]Liu M Q, Li X R. Optimal robust H∞ fusion filters for time-delayed systems with multiple saturation nonlinear sensors. In 12th International Conference on Information Fusion,2009, Seattle, WA, USA:1520-1527.
[104]Shi T, Su H Y, Chu J. Robust H∞ control for uncertain discrete-time Marko-vian jump systems with actuator saturation. Control Theory Application, 2011,9(4):465-471.
[105]Hong X F, Wang Y Z, Li H T. Robust H∞ filter design for time-delay systems with saturation. International Journal of Automation and Computing,2013, 10(4):368-374.
[106]Hong X F, Wang Y Z. Robust H∞ filter for a class of uncertain systems with time-varying delay and saturation. Control Theory and Applications,2012, 29(10):1245-1252.
[107]Du Z P, Zhang Q L, Liu L L. Delay-dependent robust stabilization for un-certain singular systems with multiple input delays. Acta Automatica Sinica, 2009,35(2):162-167.
[108]Chen W S, Li R H, Li J. Observer-based adaptive iterative learning control for nonlinear systems with time varying delays. International Journal of Au-tomation and Computing,2010,7(4):438-446.
[109]Zhang C L, Li J M. Adaptive iterative learning control for nonlinear time-delay systems with periodic disturbances using FSE-neural network. Interna-tional Journal of Automation and Computing,2011,8(4):403-410.
[110]He Y, Wang Q G, Lin C, Wu M. Delay-range-dependent stability for systems with time-varying delay. Automatica,2007,43(2):371-376.
[111]Gao H J, Chen T W. New results on stability of discrete-time systems with time-varying state delays. IEEE Transactions on Automatic Control,2007, 52(2):328-334.
[112]Qiu J B, Feng G, Yang J. A new design of delay-dependent robust H∞ filtering for continuous-time polytopic systems with time-varying delay. International Journal of Robust and Nonlinear Control,2010,20(3),:346-365.
[113]Li D, Li J M. Adaptive iterative learning control for nonlinearly parameterized systems with unknown time-varying delay and unknown control direction. International Journal of Automation and Computing,2012,9(6):578-586.
[114]Wang Y, Cheng D, Hong Y. Stabilization of synchronous generators with the Hamiltonian function approach. International Journal of Systems Science, 2001,32(8):971-978.
[115]Romeo Ortegaa, Arjan van der Schaftb, Bernhard Maschkec, Gerardo Esco-bar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica,2002,38(4),585-596.
[116]Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica,2003,39(12),2059-2069.
[117]Wang Y, Cheng D, Li C, Ge Y. Dissipative Hamiltonian realization and energy-based L2 disturbance attenuation control of multimachine power sys-tems. IEEE Transactions on Automatic Control,2003,48(8),1428-1433.
[118]Wang Y, Li C, Cheng D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica,2003,39(8):1437-1443.
[119]Wang Y, Feng G, Cheng D. Adaptive L2 disturbance attenuation control of multimachine power systems with SMES units. Automatica,2006,42(7): 1121-1132.
[120]孙丽瑛,王玉振.一类非线性奇异Hamilton系统的H∞控制.中国科学,2010,40(11)：1519-1529.