不确定时滞系统与非线性系统的自适应控制
|
摘要
本文主要基于Lyapunov稳定性理论,以线性矩阵不等式(LMI)和最小二乘支撑向量机(LSSVM)为主要工具,研究了不确定时滞系统满足不同设计要求的各种鲁棒自适应控制问题和一类仿射非线性离散系统的自适应控制问题。全文主要有以下几个部分组成。
第一部分:介绍时滞系统自适应控制的发展趋势和研究概况。在研究中所涉及到的一些主要数学方法和工具。然后提出本文研究的一些主要问题及所需的一些准备知识。
第二部分:研究了两类不确定时变时滞系统的鲁棒自适应控制问题。首先,针对一类多变时滞的不确定系统,系统的时滞不确定性不要求满足匹配条件且上界未知,通过求解一个线性矩阵不等式和基于不确定性上界的估计值设计了一种鲁棒自适应状态反馈控制器,并证明了此控制器使得闭环系统和参数估计误差最终一致有界。最后,我们研究了一类含匹配变时滞状态扰动非线性系统的鲁棒自适应镇定问题。当系统的变时滞扰动的上界函数未知但满足所谓的线性增长条件,通过求解一个Hamilton-Jacobi不等式和Lyapunov-Krasovskii型泛函设计出了一种自适应鲁棒状态反馈控制器,并证明了此控制器使得闭环系统和参数估计误差一致最终有界且系统的状态一致渐近趋于零。
第三部分:研究了一类同时包含匹配和不匹配不确定性时滞互联系统的分散自适应控制问题。首先针对一类含未知常时滞的不确定互联系统,假定互联项满足匹配和线性增长条件,但增益未知,同时假定匹配不确定性和扰动是有界的,但上界未知。通过采用自适应律估计这些未知的界并结合线性矩阵不等式方法设计了一种分散鲁棒自适应控制器,基于Lyapunov稳定性理论和Lyapunov-Krasovskii型泛函证明了此控制器使得闭环系统的状态最终一致趋于零。然后,我们将上述结论进一步推广到时变时滞情形,对变时滞满足不同的条件分别设计了相应的分散鲁棒自适应控制器,并且也得到了满意的结果。
第四部分:研究了不确定时变时滞系统的自适应输出反馈控制问题。首先,研究了一类含变时滞扰动不确定系统的输出反馈自适应稳定控制问题。假定不确定性满足所谓的匹配条件且标称系统的传递函数矩阵是严格反馈正实的。基于Lyapunov稳定性理论和Lyapunov-Krasovskii型泛函给出了两种自适应输出反馈控制器设计方法,并采用不同的自适应律对系统的不确定性上界进行在线估计,证明了所设计的两种控制器均能使闭环系统最终一致有界且其中一种还能进一步保证系统状态一致渐近趋于零。其次,针对一类含不确定参数和多时变时滞互联项的大系统,在不确定参数矩阵上界未知的情况下,基于Lyapunov稳定性理论设计出了一种分散自适应输出反馈控制器,并证明了此控制器使得闭环系统全局指数一致收敛到一个有界球。
第五部分:研究了变时滞系统的自适应滑动模控制问题。首先,我们研究了一类含不匹配不确定性和匹配外界扰动时变时滞系统的自适应滑动模控制方法。基于线性矩阵不等式给出了滑动平面存在的充分条件,并采用自适应控制策略估计扰动的未知上界从而使得闭环系统是全局渐近稳定的。在此基础上,还研究了执行器具有饱和特性的情形下,滑模自适应控制器的设计方法。该方法不仅取消了饱和界已知的假设,而且在考虑了各种不确定性和扰动的情况下,给出了滑动模态存在性和可达性的条件,从而保证了闭环系统的渐近稳定性。其次,针对一类含外界干扰和变时滞互联项的大系统,提出了一种基于Lyapunov稳定性理论的分散自适应滑动模跟踪控制策略,通过引入积分滑动模和能在线估计不确定扰动与时滞关联界的自适应算法,实现了对参考模型的跟踪控制。
第六部分:针对一类仿射非线性离散系统,提出了一种基于最小二乘支撑向量机的自适应控制策略。同神经网络方法相比,具有一个隐层以上的回归支撑向量机除了可以逼近紧致集上任意非线性函数外,还具有自动确定模型复杂度的能力和较高的泛化能力。该方法最终归结为求解一个线性方程组。利用矩阵计算的一些技巧引入了迭代算法,从而避免矩阵的求逆运算。同时,当样本数据增加较多,通过引入遗忘机制来降低在线运算的计算复杂性,提高运算速度。
本文对主要设计方案均进行了仿真研究,仿真结果表明,本文对不同类型的不确定时滞系统给出相应的自适应控制方案均能获得良好的控制效果。
Based on the Lyapunov stability theory,this dissertation is mainly on the design of the robust adaptive controllers for uncertain time delay systems subject to different assumptions by using linear matrix inequalities(LMIs),and the design of the adaptive control of a class of nonlinear discrete-time systems by the use of least square support vector machine algorithm (LSSVM).The main work of this dissertation consists of six parts as follows:
In part one,the research development and general situation about the adaptive control for time delay systems are discussed first,and then the main mathematical tools and methods, which will be used in this dissertation,are stated.Furthermore,the main problems,which are studied in this dissertation,are introduced.Finally,some necessary preliminaries in this dissertation are given.
In part two,the problem of robust adaptive controller design for two classes of uncertain time varying delay systems is studied.First,the problem of robust adaptive stabilization for a class of multiple time-delay uncertain systems is discussed.The time-delay uncertainties are assumed to satisfy the mismatching conditions and the values of its upper bounds are unknown.By using of the LMI and Lyapunov-Krosovskii functional we propose a memoryless adaptive state feedback controller,which can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness.Finally,the problem of adaptive stabilization for a class of nonlinear systems including matching time-varying delayed disturbance is discussed.The bound of the time-varying delayed state disturbances are unknown and are assumed to satisfy the linear growth conditions.By using of the Lyapunov stability theory and Lyapunov-Krosovskii functional we propose a robust adaptive state feedback controller,which can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness and the state trajectories are uniformly asymptotically to zero.
In part three,the problem of decentralized robust adaptive control is considered for a class of uncertain large-scale time-delay systems in the presence of mismatched and matched uncertainties.The constant time delay is considered first.The interconnections are assumed to be bounded by a linear function of delayed states with unknown gains.The upper bounds of the matching uncertainties and perturbations are also assumed to be unknown.The adaptation laws are proposed to estimate such unknown bounds,and by making use of the LMI method,a class of decentralized robust adaptive controllers is constructed.Based on the Lyapunov stability theory and Lyapunov-Krasovskii functional,it is shown that the state trajectories of the large-scale systems are uniformly asymptotically to zero.Then the above results are extended to the situation with time varying delay.Different decentralized adaptive controllers are designed for time varying delay subject to different conditions.Satisfactory results are also achieved.
In part four,the problem of adaptive output feedback stabilization control for uncertain time varying delay systems is studied.A class of uncertain dynamic system including time-varying delayed perturbations is discussed first.The uncertainties are assumed to satisfy the so-called matching conditions and the transfer function matrix of the nominal system is strictly feedback positive real.By using of the Lyapunov stability theory and Lyapunov-Krosovskii functional we propose two different output feedback adaptive controllers and two different adaptation laws to estimate the unknown upper bounds of the uncertainties of the system,which all can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness.In addition,one of them can guarantee the state trajectories of the system are uniformly asymptotically to zero.Then the problem of decentralized adaptive output feedback stabilization for a class of large-scale systems subject to uncertain parameters and multiple time-varying delays in the interconnections is studied. The interconnections are assumed to satisfy the matching conditions and the nominal system of each subsystems is strictly feedback positive real.By estimating the unknown bounds of the uncertain parameter matrices we propose an decentralized output feedback adaptive controller, which can guarantee the closed-loop system to converge,globally,uniformly and exponentially,to a bounded ball.
In part five,the problem of adaptive sliding mode control for time varying delay systems is studied.A class of time varying delay systems with mismatched uncertainties and matched external perturbations is investigated first.Based on the Lyapunov theory,a sufficient condition derived in terms of LMI is given to guarantee the existence of the sliding surface. The adaptive control is used to overcome the unknown upper bound of perturbations.The globally asymptotic stability is also achieved for the proposed control methodology.Then the adaptive sliding mode control scheme with saturation actuator is considered.The approach not only removes the assumption that the bounds of the saturation are known,but also give the existence and reachable conditions of the sliding-mode.By theoretical analysis,it is shown that the asymptotical stability of the closed-loop system is guaranteed under the saturation input.Finally,the problem of robust tracking and model following is considered for a class of linear large-scale systems subject to time varying delay interconnections and external disturbances.Based on the Lyapunov stability theory,a decentralized adaptive sliding mode control scheme is proposed.An adaptation algorithm that can adapt the unknown upper bounds of the uncertainties and time varying delay interconnections is introduced as well as integral sliding mode,so that the tracking error decrease asymptotically to zero and reference model following is achieved.
Finally,we introduce the use of recurrent least square support vector machine algorithm for the adaptive control of a class of nonlinear discrete-time systems.Comparing to neural networks,the regression support vector machines with one or more hidden layer not only can approximate any nonlinear function on the compact set but also has well generalization ability and the ability to adaptively determine the complexity of the model.The procedure is finally comes down to solve a set of linear equations in an iterative way.Advantage of the newly designed algorithm is that the computation of inverse matrix is avoided.The curse of dimensionality is also avoided by using the finite time window.
In this dissertation,simulations are made for major design schemes.Simulation results also show the effectiveness of the proposed approaches.
第一部分:介绍时滞系统自适应控制的发展趋势和研究概况。在研究中所涉及到的一些主要数学方法和工具。然后提出本文研究的一些主要问题及所需的一些准备知识。
第二部分:研究了两类不确定时变时滞系统的鲁棒自适应控制问题。首先,针对一类多变时滞的不确定系统,系统的时滞不确定性不要求满足匹配条件且上界未知,通过求解一个线性矩阵不等式和基于不确定性上界的估计值设计了一种鲁棒自适应状态反馈控制器,并证明了此控制器使得闭环系统和参数估计误差最终一致有界。最后,我们研究了一类含匹配变时滞状态扰动非线性系统的鲁棒自适应镇定问题。当系统的变时滞扰动的上界函数未知但满足所谓的线性增长条件,通过求解一个Hamilton-Jacobi不等式和Lyapunov-Krasovskii型泛函设计出了一种自适应鲁棒状态反馈控制器,并证明了此控制器使得闭环系统和参数估计误差一致最终有界且系统的状态一致渐近趋于零。
第三部分:研究了一类同时包含匹配和不匹配不确定性时滞互联系统的分散自适应控制问题。首先针对一类含未知常时滞的不确定互联系统,假定互联项满足匹配和线性增长条件,但增益未知,同时假定匹配不确定性和扰动是有界的,但上界未知。通过采用自适应律估计这些未知的界并结合线性矩阵不等式方法设计了一种分散鲁棒自适应控制器,基于Lyapunov稳定性理论和Lyapunov-Krasovskii型泛函证明了此控制器使得闭环系统的状态最终一致趋于零。然后,我们将上述结论进一步推广到时变时滞情形,对变时滞满足不同的条件分别设计了相应的分散鲁棒自适应控制器,并且也得到了满意的结果。
第四部分:研究了不确定时变时滞系统的自适应输出反馈控制问题。首先,研究了一类含变时滞扰动不确定系统的输出反馈自适应稳定控制问题。假定不确定性满足所谓的匹配条件且标称系统的传递函数矩阵是严格反馈正实的。基于Lyapunov稳定性理论和Lyapunov-Krasovskii型泛函给出了两种自适应输出反馈控制器设计方法,并采用不同的自适应律对系统的不确定性上界进行在线估计,证明了所设计的两种控制器均能使闭环系统最终一致有界且其中一种还能进一步保证系统状态一致渐近趋于零。其次,针对一类含不确定参数和多时变时滞互联项的大系统,在不确定参数矩阵上界未知的情况下,基于Lyapunov稳定性理论设计出了一种分散自适应输出反馈控制器,并证明了此控制器使得闭环系统全局指数一致收敛到一个有界球。
第五部分:研究了变时滞系统的自适应滑动模控制问题。首先,我们研究了一类含不匹配不确定性和匹配外界扰动时变时滞系统的自适应滑动模控制方法。基于线性矩阵不等式给出了滑动平面存在的充分条件,并采用自适应控制策略估计扰动的未知上界从而使得闭环系统是全局渐近稳定的。在此基础上,还研究了执行器具有饱和特性的情形下,滑模自适应控制器的设计方法。该方法不仅取消了饱和界已知的假设,而且在考虑了各种不确定性和扰动的情况下,给出了滑动模态存在性和可达性的条件,从而保证了闭环系统的渐近稳定性。其次,针对一类含外界干扰和变时滞互联项的大系统,提出了一种基于Lyapunov稳定性理论的分散自适应滑动模跟踪控制策略,通过引入积分滑动模和能在线估计不确定扰动与时滞关联界的自适应算法,实现了对参考模型的跟踪控制。
第六部分:针对一类仿射非线性离散系统,提出了一种基于最小二乘支撑向量机的自适应控制策略。同神经网络方法相比,具有一个隐层以上的回归支撑向量机除了可以逼近紧致集上任意非线性函数外,还具有自动确定模型复杂度的能力和较高的泛化能力。该方法最终归结为求解一个线性方程组。利用矩阵计算的一些技巧引入了迭代算法,从而避免矩阵的求逆运算。同时,当样本数据增加较多,通过引入遗忘机制来降低在线运算的计算复杂性,提高运算速度。
本文对主要设计方案均进行了仿真研究,仿真结果表明,本文对不同类型的不确定时滞系统给出相应的自适应控制方案均能获得良好的控制效果。
Based on the Lyapunov stability theory,this dissertation is mainly on the design of the robust adaptive controllers for uncertain time delay systems subject to different assumptions by using linear matrix inequalities(LMIs),and the design of the adaptive control of a class of nonlinear discrete-time systems by the use of least square support vector machine algorithm (LSSVM).The main work of this dissertation consists of six parts as follows:
In part one,the research development and general situation about the adaptive control for time delay systems are discussed first,and then the main mathematical tools and methods, which will be used in this dissertation,are stated.Furthermore,the main problems,which are studied in this dissertation,are introduced.Finally,some necessary preliminaries in this dissertation are given.
In part two,the problem of robust adaptive controller design for two classes of uncertain time varying delay systems is studied.First,the problem of robust adaptive stabilization for a class of multiple time-delay uncertain systems is discussed.The time-delay uncertainties are assumed to satisfy the mismatching conditions and the values of its upper bounds are unknown.By using of the LMI and Lyapunov-Krosovskii functional we propose a memoryless adaptive state feedback controller,which can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness.Finally,the problem of adaptive stabilization for a class of nonlinear systems including matching time-varying delayed disturbance is discussed.The bound of the time-varying delayed state disturbances are unknown and are assumed to satisfy the linear growth conditions.By using of the Lyapunov stability theory and Lyapunov-Krosovskii functional we propose a robust adaptive state feedback controller,which can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness and the state trajectories are uniformly asymptotically to zero.
In part three,the problem of decentralized robust adaptive control is considered for a class of uncertain large-scale time-delay systems in the presence of mismatched and matched uncertainties.The constant time delay is considered first.The interconnections are assumed to be bounded by a linear function of delayed states with unknown gains.The upper bounds of the matching uncertainties and perturbations are also assumed to be unknown.The adaptation laws are proposed to estimate such unknown bounds,and by making use of the LMI method,a class of decentralized robust adaptive controllers is constructed.Based on the Lyapunov stability theory and Lyapunov-Krasovskii functional,it is shown that the state trajectories of the large-scale systems are uniformly asymptotically to zero.Then the above results are extended to the situation with time varying delay.Different decentralized adaptive controllers are designed for time varying delay subject to different conditions.Satisfactory results are also achieved.
In part four,the problem of adaptive output feedback stabilization control for uncertain time varying delay systems is studied.A class of uncertain dynamic system including time-varying delayed perturbations is discussed first.The uncertainties are assumed to satisfy the so-called matching conditions and the transfer function matrix of the nominal system is strictly feedback positive real.By using of the Lyapunov stability theory and Lyapunov-Krosovskii functional we propose two different output feedback adaptive controllers and two different adaptation laws to estimate the unknown upper bounds of the uncertainties of the system,which all can guarantee the closed-loop system is globally stable in the sense of uniform ultimate boundedness.In addition,one of them can guarantee the state trajectories of the system are uniformly asymptotically to zero.Then the problem of decentralized adaptive output feedback stabilization for a class of large-scale systems subject to uncertain parameters and multiple time-varying delays in the interconnections is studied. The interconnections are assumed to satisfy the matching conditions and the nominal system of each subsystems is strictly feedback positive real.By estimating the unknown bounds of the uncertain parameter matrices we propose an decentralized output feedback adaptive controller, which can guarantee the closed-loop system to converge,globally,uniformly and exponentially,to a bounded ball.
In part five,the problem of adaptive sliding mode control for time varying delay systems is studied.A class of time varying delay systems with mismatched uncertainties and matched external perturbations is investigated first.Based on the Lyapunov theory,a sufficient condition derived in terms of LMI is given to guarantee the existence of the sliding surface. The adaptive control is used to overcome the unknown upper bound of perturbations.The globally asymptotic stability is also achieved for the proposed control methodology.Then the adaptive sliding mode control scheme with saturation actuator is considered.The approach not only removes the assumption that the bounds of the saturation are known,but also give the existence and reachable conditions of the sliding-mode.By theoretical analysis,it is shown that the asymptotical stability of the closed-loop system is guaranteed under the saturation input.Finally,the problem of robust tracking and model following is considered for a class of linear large-scale systems subject to time varying delay interconnections and external disturbances.Based on the Lyapunov stability theory,a decentralized adaptive sliding mode control scheme is proposed.An adaptation algorithm that can adapt the unknown upper bounds of the uncertainties and time varying delay interconnections is introduced as well as integral sliding mode,so that the tracking error decrease asymptotically to zero and reference model following is achieved.
Finally,we introduce the use of recurrent least square support vector machine algorithm for the adaptive control of a class of nonlinear discrete-time systems.Comparing to neural networks,the regression support vector machines with one or more hidden layer not only can approximate any nonlinear function on the compact set but also has well generalization ability and the ability to adaptively determine the complexity of the model.The procedure is finally comes down to solve a set of linear equations in an iterative way.Advantage of the newly designed algorithm is that the computation of inverse matrix is avoided.The curse of dimensionality is also avoided by using the finite time window.
In this dissertation,simulations are made for major design schemes.Simulation results also show the effectiveness of the proposed approaches.
引文
[1]A.Yesildirek,F.L.Lewis.,Feedback linearization using neural networks,Automatica,1995,31:1659-1664
[2]Cao Y.Y.,Frank P.M.,Analysis and synthesis of nonlinear time-delay systems via Takagi-Sugeno fuzzy models,Fuzzy Sets and Systems 2001,124:213-229
[3]Cao Y.Y.,Frank P.M.,Stability analysis and synthesis of nonlinear time-delay systems via fuzzy control approach,IEEE Trans.Fuzzy Systems 2000,8:200-211
[4]Chen F.C.,Kahil H.K.,Adaptive control of a class of nonlinear discrete-time systems using neural networks,IEEE Trans.Automatie Control,1995,40:791-801
[5]Chen N.,Gui W.H.,Wu M.,Xie Y.F,The design of decentralized robust tracking controllers for large-scale uncertain systems with time-delay,Control Theory and Applications,2001,18:939-943
[6]Chen Z.M.,Zhou J.S.,Introduction to matrix theory,Beijing University of Aeronautics and Astronautics Press,Beijing,1998
[7]Chiang C.C.,Decentralized variable structure model reference adaptive control of linear time-varying large scale systems with bounded disturbance,Int.J.Syst.Sci.,1995,26:1993-2003
[8]Choi H.H.,Chung M.J.,Memoryless stabilization of uncertain dynamic systems with time-varying delayed state and control,Automatic,1995,25:1337-1339
[9]Choi H.H.,Variable structure control of dynamical systems with mismatched norm-bounded uncertainties:an LMI approach,Int.J.Control,2001,74:1324-1334
[10]Chou C.H.,Cheng C.C.,A decentralized reference adaptive variable structure controller for large-scale time-varying delay systems,IEEE Trans.Automatic Control,2003,48:1213-1217
[11]Chou C.H.,Cheng C.C.,Decentralized model following variable structure control for perturbed large-scale systems with time-delay interconnections,In Proc.American Control Conf.Chicago,2000,641-645
[12]Chou C.H.,Cheng C.C.,Design of adaptive variable structure controllers for perturbed time-varying state delay systems,Journal of The Franklin Institute,2001,338:35-46
[13]E.Cheres,S.Gutman,Z.Palmor,Stabilization of uncertain dynamic systems including state delay.IEEE Trans.Automatic Control,1989,34:1199-1203
[14]EI-Khazali R,Variable structure robust control of uncertain time-delay systems.Automatica,1998,34:327-332
[15]Feng Z.,Wang Q.G.,Lee T.H.,Adaptive robust control of uncertain time delay systems.Automatica,2005,41:1375-1383
[16]Foda S.G.,Mahmoud M.S.,Adaptive stabilization of delay differential systems with unknown uncertainty bounds,International Journal of Control,1998,71:259-275
[17]Hale J.,Theory of functional equations.Springer-Verlag,New York,1997
[18]Hsu K.,Decentralized sliding mode control for large-scale time-delayed systems with series nonlinearities,J.Dynamic Systems Measurement control Trans.ASME,1999,121:708-713
[19]Hu J.,Chu J.,Su H.,SMVSC for a class of time-delay uncertain systems with mismatching uncertainties,IEE Proc.Control Theary and Appl,2000,687-693
[20]Hu Z.,Decentralized stabilization of large-scale interconnected systems with delays.IEEE Trans.Automat.Control,1994,39:180-182
[21]Hua C.C., Guan X.P., Duan G.R., Variable Structure adaptive fuzzy control for a class of nonlinear time-delay systems. Fuzzy Sets and Systems, 2004,148:453-468
[22]Hua C.C., Guan X.P., Peng S., Adaptive fuzzy control for uncertain interconnected time-delay systems. Fuzzy Sets and Systems, 2005,153:447458
[23]Hua C.C., Guan X.P., Peng S., Robust adaptive control for uncertain time-delay systems. Int.J.of Adaptive Control and Signal Processing, 2005,19:531-545
[24]Huang Y.P., Zhou K., On the robustness of uncertain time-delay systems with structured uncertainties, System and Control Letters, 2000,41:367-376
[25]Hung M.L., Yan J.J., Decentralized model-reference adaptive control for a class of uncertain large-scale time-varying delayed systems with series nonlinearities, Chaos, Solitons and Fractals, 2007,33:1558-1568
[26]Ichikawa K., Adaptive control of delay systems. International Journal of Control, 1986, 43:1653-1659
[27]Khalil H.K, Nonlinear Systems, MacMillan, NewYork, 1992
[28]Kharitonov V.L., Melchor A.D., On delay dependent stability condition, System and Control letters, 2000,41: 71-76
[29]Lee T.N., Radovic U.L., General decentralized stabilization of large-scale linear continuous and discrete time-delay systems. International Journal of Control, 1987,46:2127-2147
[30] Li X., De Souza C.E., Criteria for robust stability and stabilization of uncertain linear systems with state delay. Automatica, 1997,33:1650-1662
[31 ]Li X., De Souza C.E., Delay-dependent robust H∞ control of uncertain linear state-delayed systems. Automatica, 1999,35:1313-1321
[32]Li X., Decarlo R.A., Memoryless sliding mode control of uncertain time-delay systems. Proceedings of American Control Conference, Arlington, VA, 2001,4344-4350
[33]Li X., Decarlo R.A., Robust sliding mode control of uncertain time-delay systems. International Journal of Control, 2003,76:196-1305
[34]Luo N., Delasen M., State feedback sliding mode control of a class of uncertain time delay system. IEE Proceedings-D, 1993,140:261-274
[35]Mahmoud M.S., Adaptive control of a class of time-delay systems with uncertain parameters. International Journal of Control, 1996,63:937-950
[36]Mahmoud M.S., Bingulac S., Robust design of stabilizing controllers for interconnected time-delay systems, Automatica, 1998,34:795-800
[37]Mirkin B.M., Gutman P.O., Output feedback model reference adaptive control for multi-input-multi-output plants with state delay. Systems & Control Letters, 2005,54:961-972
[38]Niculescu S.I, Desouza C.E, Dugard L and Dion J.M., Robust exponential stability of uncertain systems with time-varying delays, IEEE Trans on Auto Control, 1998,43:734-747
[39]Niculescu S.I., Dion J.M., Dugard L., Robust stabilization for uncertain time-delay systems containing saturating actuators, IEEE Trans on Auto Control, 1996,41:742-743
[40]Nihtila M.T., Adaptive control of a continuous-time system with timeOvarying input delay, Systems and Control Letters, 1989,12:357-364
[41]Niu Y., D.W.C Ho Lam J., Robust integral sliding mode control for uncertain stochastic systems with time-varying delay, Automatica, 2005,41:873-880
[42]Niu Y., Lam J., Wang X., and D.W.C Ho, Sliding-mode control for nonlinear state-delayed systems using neural-network approximation, IEE Proc.-Control Theory Appl, 2003,150:233-239
[43] Ortega R., Lozano R., Globally stable adaptive controller for systems delay, International Journal of Control, 1988,47:17-23
[44]Oucheriah S., Adaptive control of a class of uncertain dynamic delay systems, ASME J Dynam Syst Measure Contr, 1999,121:538-541
[45]Oucheriah S., Adaptive robust control of a class of dynamic delay systems with unknown uncertainty bounds. International Journal of Adaptive Control and Signal Processing, 2001,15:53-63
[46]Oucheriah S., Decentralized adaptive control for a class of large-scale systems with multiple delays in the interconnections. Int. J.of Adaptive Control and Signal Processing, 2005,19:1-11
[47]Oucheriah S., Decentralized stabilization of large scale systems with multiple delays in the interconnections. Int.J.Control, 2000,73:1213-1223
[48]Oucheriah S., Dynamic compensation of uncertain time-delay systems using variable approach. IEEE Trans Circuits Syst-I,1995,42:466470
[49]Oucheriah S., Global stabilization of a class of linear continuous time-delay systems with saturating controls. IEEE Trans Circ Syst, 1996,43:1012-1015
[50]Oucheriah S., Robust exponential convergence of a class of linear delayed systems with bounded controllers and disturbances, Automatica, 2006,42:1863-1867
[51]Oucheriah S., Robust tracking and model following of uncertain dynamic delay systems by memoryless linear controllers, IEEE Trans. Automat. Contr., 1999,44:1473-1477
[52] Park J.H., Robust decentralized stabilization of uncertain large-scale discrete-time systems with delays. Journal of optimization theory and applications, 2002,113:105-119
[53]Phoojaruenchanashaai S., Furuta K., Memoryless stabilization of uncertain linear systems including time-varying state delays. IEEE Trans Automatic Control, 1992,37:1022-1026
[54]Roh Y.H., Oh J.H., Sliding mode control with uncertainty adaptation for uncertain input-delay systems, Int. J. Control, 2000,73:1233-1260
[55]Shyu K.K., Liu W.J., Hsu K.C., Design of large-scale time-delayed systems with dead-zone input via variable structure control. Automatica, 2005,41:1239-1246
[56]Shyu K.K., Yan J.J., Variabel-structure model following adaptive control for systems with time-varying delay. International Journal of Control, 1994,10:513-521
[57] Su H.Y., Chu.J Wang J.C., A memoryless robust stabilizing controller for a class of uncertain linear time-delay systems, Int J of Systems Science, 1998,29:191-197
[58]Suykens J.A.K., J.Vandewalle B.De moor, Optimal control by least square support vector machines, Neural networks, 2001,14:23-35
[59]Suykens J.A.K., Vandewalle J., Least square support vector machine classifiers, Neural Processing Letters, 1999,9:293-300
[60]Tao G., Model reference adaptive control of multivariable plants with delays. International Journal of Control, 1992,55:393-414
[61]Trinh H., Aldeen M., Output tracking for linear uncertain time-delay systems. IEE Proc. Contr. Theory and Appl. 1996,143:484-488
[62]Trinh H., Aldeen M.A., Comment on decentralized stabilization of large-scale interconnected systems with delays IEEE Trans. Automat. Control 1995,40:914-916
[63] V.Vapnik The Nature of Statistical Learning Theory, Springer-Verlag, New York, 1995
[64]Wu H.S., Adaptive robust state feedback controllers for a class of dynamical systems with delayed state perturbation,Proceedings of the American Control Conference,Chicago Illinois,2000,3661-3665
[65]Wu H.S.,Adaptive robust tracking and model following of uncertain dynamical systems with multiple time delays,IEEE Trans.Automatic Control,2004,49:611-616
[66]Wu H.S.,Adaptive stabilizing state feedback controllers of uncertain dynamical systems with multiple time delays,IEEE Trans.Automatic Control,2000,45:1697-1701
[67]Wu H.S.,Continuous adaptive robust controllers guaranteeing uniform ultimate boundedness for uncertain nonlinear systems,International Journal of Control,1999,72:115-122
[68]Wu H.S.,Decentralized adaptive robust control for a class of large-scale systems including delayed state perturbations in the interconnections.IEEE Trans.Automatic Control,2002,47:1745-1751
[69]Wu H.S.,Decentralized adaptive robust state feedback for uncertain large-scale interconnected systems with time delays.Journal of optimization theory and applications,2005,126:439-462
[70]Wu H.S.,Mizukami K.,Willgoss R.A.,Decentralized robust control for uncertain large-scale time-delay dynamical systems.Control-Theory and Advanced Technology 1993,9:533-546
[71]Wu H.S.,Robust output feedback controllers for dynamical systems including delayed perturbations,International Journal of Systems Science,1999,30:211-218
[72]Xia Y.Q.,Jia Y.M.,Robust sliding-mode control for uncertain time-delay systems:an LMI approach,IEEE Trans.Automatic Control,2003,48:1086-1091
[73]Xu J.Q.,Chen S.Z.,Adaptive Control of a Class of Nonlinear Discrete-Time Systems using Support Vector Machine,Proceedings of the 5~(th)World Congress on Intelligent Control and Automation,Hangzhou,China,2004,440-443
[74]Yan J.J,Tsai J.S.H.,Kung F.C.,Robust decentralized stabilization of large-scale delay systems via sliding mode control.ASME J Dyn Syst,Meas Control 1997,119:307-312
[75]Yan J.J.,Lin J.S.,Liao T.L.,Robust dynamic compensator for a class of time delay systems containing saturating control input.Chaos,Solitons and Fractals,2007,31:1223-1231
[76]Yu L.,Chu J.,An LMI approach to guaranteed cost control of linear uncertain time-delay systems,Automatica,1999,35:1155-1159
[77]Yue D.,Robust stabilization of uncertain systems with unknown input delay.Automatica,2004,10:331-336
[78]Yue D.,Won S.,Design of delay dependent robust controller for uncertain systems with time-varying delay Control Theory and Applications 2003,20:261-265
[79]Zhu L.,Jiang C.S.,Fu X.R.,Design of robust decentralized controller for uncertain Large-Scale interconnected systems with input delay using reduction method.Journal of the graduate school of the Chinese Academy of Sciences,2005,22:38-45
[80]柴琳,费树岷.一类输入时滞的线性时滞系统的自适应H∞控制.系统工程理论与实践,2006,26:61-67
[81]柴琳,费树岷,辛云冰.线性时滞系统的新型自适应控制.南京理工大学学报,2005,29:50-54
[82]柴琳,费树岷,辛云冰.一类带未知输入时滞的多时滞非线性系统的对时滞参数的自适应H∞控制.自动化学报,2006,32:237-245
[83]陈宁,桂卫华,谢永芳,吴敏.时滞大系统分散鲁棒跟踪器设计:LMI方法.控制与决策.2001,16:94-99
[84]陈为胜,李俊民.非线性时滞系统自适应backstepping输出反馈控制.西安电子科技大学学报,2006,33:133-137
[85]费树岷,姜偕富,冯纯伯.线性时滞系统对时滞参数的自适应控制.控制理论与应用,2001,18:686-690
[86]伏玉笋,田作华,施颂椒.非线性时滞系统输出反馈镇定.自动化学报,2002,28:802-805
[87]伏玉笋,田作华,施颂椒.非线性随机时滞系统输出反馈镇定.控制理论与应用,2003,20:749-752,757
[88]桂卫华,谢永芳,吴敏,陈宁.基于LMI的不确定性关联时滞大系统的分散鲁棒控制.自动化学报,2002,28:155-159
[89]胡剑波,褚健.不匹配不确定线性时滞系统的鲁棒自适应控制.控制理论与应用,18:380-385.2001
[90]胡剑波,苏宏业,褚健.不确定时滞系统的自适应近似变结构控制.信息与控制,2000,29:407-413
[91]胡跃明,周其节.带有滞后影响的控制系统的变结构控制.自动化学报,1991,17:587-591
[92]黄公胜,刘晓平,郑连伟.一类不确定线性时滞系统的输出反馈鲁棒镇定.控制与决策,2001,16:439-422
[93]贾秋玲,何长安.不确定多时滞非线性系统的自适应鲁棒控制.西北大学学报,2002,32:609-612
[94]贾秋玲,何长安.一类不确定多时滞非线性系统的自适应H∞鲁棒控制.西北工业大学学报,2002,20:532-535
[95]姜偕富.线性时滞系统的鲁棒及自适应控制 博士毕业论文 东南大学2001
[96]姜偕富,费树岷,冯纯伯.具有状态时滞线性系统对时滞参数的自适应控制.控制理论与应用,2002,19:704-708
[97]沈启坤,张天平,孙妍.具有死区和饱和输入的自适应混沌控制.物理学报,2007,56:6263-6269
[98]苏宏业,潘红华,蒋培刚,褚健.一类具有非线性饱和执行器的不确定时滞系统鲁棒控制.控制与决策,2000,15:23-26
[99]汤红吉,张小美,陈树中.一类时变互联不确定大系统的鲁棒分散自适应控制.电机与控制学报,2006,10:66-69
[100]吴立刚,凌明祥,王常虹,曾庆双.自适应滑模控制具有状态和输入时滞的不确定系统.电机与控制学报,2005,9:443-447
[101]吴敏,张凌波,刘国屏.一类具有匹配时滞状态扰动的非线性系统自适应鲁棒镇定.控制理论与应用,2005,22:775-778
[102]谢胜利,谢振东,刘永清.时滞控制系统的无时滞变结构控制器.控制理论与应用,1998,15:879-886
[103]谢永芳,桂卫华,吴敏,陈宁.不确定性关联时滞大系统的分散鲁棒控制--LMI方法.控制理论与应用,2001,18:263-269
[104]俞立.鲁棒控制-线性矩阵不等式处理方法.清华大学出版社,2002
[105]张凌波.一类时滞不确定系统的自适应鲁棒镇定.华东理工大学学报,2005,31:406-408
[106]梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用.清华大学出版社,2003
[2]Cao Y.Y.,Frank P.M.,Analysis and synthesis of nonlinear time-delay systems via Takagi-Sugeno fuzzy models,Fuzzy Sets and Systems 2001,124:213-229
[3]Cao Y.Y.,Frank P.M.,Stability analysis and synthesis of nonlinear time-delay systems via fuzzy control approach,IEEE Trans.Fuzzy Systems 2000,8:200-211
[4]Chen F.C.,Kahil H.K.,Adaptive control of a class of nonlinear discrete-time systems using neural networks,IEEE Trans.Automatie Control,1995,40:791-801
[5]Chen N.,Gui W.H.,Wu M.,Xie Y.F,The design of decentralized robust tracking controllers for large-scale uncertain systems with time-delay,Control Theory and Applications,2001,18:939-943
[6]Chen Z.M.,Zhou J.S.,Introduction to matrix theory,Beijing University of Aeronautics and Astronautics Press,Beijing,1998
[7]Chiang C.C.,Decentralized variable structure model reference adaptive control of linear time-varying large scale systems with bounded disturbance,Int.J.Syst.Sci.,1995,26:1993-2003
[8]Choi H.H.,Chung M.J.,Memoryless stabilization of uncertain dynamic systems with time-varying delayed state and control,Automatic,1995,25:1337-1339
[9]Choi H.H.,Variable structure control of dynamical systems with mismatched norm-bounded uncertainties:an LMI approach,Int.J.Control,2001,74:1324-1334
[10]Chou C.H.,Cheng C.C.,A decentralized reference adaptive variable structure controller for large-scale time-varying delay systems,IEEE Trans.Automatic Control,2003,48:1213-1217
[11]Chou C.H.,Cheng C.C.,Decentralized model following variable structure control for perturbed large-scale systems with time-delay interconnections,In Proc.American Control Conf.Chicago,2000,641-645
[12]Chou C.H.,Cheng C.C.,Design of adaptive variable structure controllers for perturbed time-varying state delay systems,Journal of The Franklin Institute,2001,338:35-46
[13]E.Cheres,S.Gutman,Z.Palmor,Stabilization of uncertain dynamic systems including state delay.IEEE Trans.Automatic Control,1989,34:1199-1203
[14]EI-Khazali R,Variable structure robust control of uncertain time-delay systems.Automatica,1998,34:327-332
[15]Feng Z.,Wang Q.G.,Lee T.H.,Adaptive robust control of uncertain time delay systems.Automatica,2005,41:1375-1383
[16]Foda S.G.,Mahmoud M.S.,Adaptive stabilization of delay differential systems with unknown uncertainty bounds,International Journal of Control,1998,71:259-275
[17]Hale J.,Theory of functional equations.Springer-Verlag,New York,1997
[18]Hsu K.,Decentralized sliding mode control for large-scale time-delayed systems with series nonlinearities,J.Dynamic Systems Measurement control Trans.ASME,1999,121:708-713
[19]Hu J.,Chu J.,Su H.,SMVSC for a class of time-delay uncertain systems with mismatching uncertainties,IEE Proc.Control Theary and Appl,2000,687-693
[20]Hu Z.,Decentralized stabilization of large-scale interconnected systems with delays.IEEE Trans.Automat.Control,1994,39:180-182
[21]Hua C.C., Guan X.P., Duan G.R., Variable Structure adaptive fuzzy control for a class of nonlinear time-delay systems. Fuzzy Sets and Systems, 2004,148:453-468
[22]Hua C.C., Guan X.P., Peng S., Adaptive fuzzy control for uncertain interconnected time-delay systems. Fuzzy Sets and Systems, 2005,153:447458
[23]Hua C.C., Guan X.P., Peng S., Robust adaptive control for uncertain time-delay systems. Int.J.of Adaptive Control and Signal Processing, 2005,19:531-545
[24]Huang Y.P., Zhou K., On the robustness of uncertain time-delay systems with structured uncertainties, System and Control Letters, 2000,41:367-376
[25]Hung M.L., Yan J.J., Decentralized model-reference adaptive control for a class of uncertain large-scale time-varying delayed systems with series nonlinearities, Chaos, Solitons and Fractals, 2007,33:1558-1568
[26]Ichikawa K., Adaptive control of delay systems. International Journal of Control, 1986, 43:1653-1659
[27]Khalil H.K, Nonlinear Systems, MacMillan, NewYork, 1992
[28]Kharitonov V.L., Melchor A.D., On delay dependent stability condition, System and Control letters, 2000,41: 71-76
[29]Lee T.N., Radovic U.L., General decentralized stabilization of large-scale linear continuous and discrete time-delay systems. International Journal of Control, 1987,46:2127-2147
[30] Li X., De Souza C.E., Criteria for robust stability and stabilization of uncertain linear systems with state delay. Automatica, 1997,33:1650-1662
[31 ]Li X., De Souza C.E., Delay-dependent robust H∞ control of uncertain linear state-delayed systems. Automatica, 1999,35:1313-1321
[32]Li X., Decarlo R.A., Memoryless sliding mode control of uncertain time-delay systems. Proceedings of American Control Conference, Arlington, VA, 2001,4344-4350
[33]Li X., Decarlo R.A., Robust sliding mode control of uncertain time-delay systems. International Journal of Control, 2003,76:196-1305
[34]Luo N., Delasen M., State feedback sliding mode control of a class of uncertain time delay system. IEE Proceedings-D, 1993,140:261-274
[35]Mahmoud M.S., Adaptive control of a class of time-delay systems with uncertain parameters. International Journal of Control, 1996,63:937-950
[36]Mahmoud M.S., Bingulac S., Robust design of stabilizing controllers for interconnected time-delay systems, Automatica, 1998,34:795-800
[37]Mirkin B.M., Gutman P.O., Output feedback model reference adaptive control for multi-input-multi-output plants with state delay. Systems & Control Letters, 2005,54:961-972
[38]Niculescu S.I, Desouza C.E, Dugard L and Dion J.M., Robust exponential stability of uncertain systems with time-varying delays, IEEE Trans on Auto Control, 1998,43:734-747
[39]Niculescu S.I., Dion J.M., Dugard L., Robust stabilization for uncertain time-delay systems containing saturating actuators, IEEE Trans on Auto Control, 1996,41:742-743
[40]Nihtila M.T., Adaptive control of a continuous-time system with timeOvarying input delay, Systems and Control Letters, 1989,12:357-364
[41]Niu Y., D.W.C Ho Lam J., Robust integral sliding mode control for uncertain stochastic systems with time-varying delay, Automatica, 2005,41:873-880
[42]Niu Y., Lam J., Wang X., and D.W.C Ho, Sliding-mode control for nonlinear state-delayed systems using neural-network approximation, IEE Proc.-Control Theory Appl, 2003,150:233-239
[43] Ortega R., Lozano R., Globally stable adaptive controller for systems delay, International Journal of Control, 1988,47:17-23
[44]Oucheriah S., Adaptive control of a class of uncertain dynamic delay systems, ASME J Dynam Syst Measure Contr, 1999,121:538-541
[45]Oucheriah S., Adaptive robust control of a class of dynamic delay systems with unknown uncertainty bounds. International Journal of Adaptive Control and Signal Processing, 2001,15:53-63
[46]Oucheriah S., Decentralized adaptive control for a class of large-scale systems with multiple delays in the interconnections. Int. J.of Adaptive Control and Signal Processing, 2005,19:1-11
[47]Oucheriah S., Decentralized stabilization of large scale systems with multiple delays in the interconnections. Int.J.Control, 2000,73:1213-1223
[48]Oucheriah S., Dynamic compensation of uncertain time-delay systems using variable approach. IEEE Trans Circuits Syst-I,1995,42:466470
[49]Oucheriah S., Global stabilization of a class of linear continuous time-delay systems with saturating controls. IEEE Trans Circ Syst, 1996,43:1012-1015
[50]Oucheriah S., Robust exponential convergence of a class of linear delayed systems with bounded controllers and disturbances, Automatica, 2006,42:1863-1867
[51]Oucheriah S., Robust tracking and model following of uncertain dynamic delay systems by memoryless linear controllers, IEEE Trans. Automat. Contr., 1999,44:1473-1477
[52] Park J.H., Robust decentralized stabilization of uncertain large-scale discrete-time systems with delays. Journal of optimization theory and applications, 2002,113:105-119
[53]Phoojaruenchanashaai S., Furuta K., Memoryless stabilization of uncertain linear systems including time-varying state delays. IEEE Trans Automatic Control, 1992,37:1022-1026
[54]Roh Y.H., Oh J.H., Sliding mode control with uncertainty adaptation for uncertain input-delay systems, Int. J. Control, 2000,73:1233-1260
[55]Shyu K.K., Liu W.J., Hsu K.C., Design of large-scale time-delayed systems with dead-zone input via variable structure control. Automatica, 2005,41:1239-1246
[56]Shyu K.K., Yan J.J., Variabel-structure model following adaptive control for systems with time-varying delay. International Journal of Control, 1994,10:513-521
[57] Su H.Y., Chu.J Wang J.C., A memoryless robust stabilizing controller for a class of uncertain linear time-delay systems, Int J of Systems Science, 1998,29:191-197
[58]Suykens J.A.K., J.Vandewalle B.De moor, Optimal control by least square support vector machines, Neural networks, 2001,14:23-35
[59]Suykens J.A.K., Vandewalle J., Least square support vector machine classifiers, Neural Processing Letters, 1999,9:293-300
[60]Tao G., Model reference adaptive control of multivariable plants with delays. International Journal of Control, 1992,55:393-414
[61]Trinh H., Aldeen M., Output tracking for linear uncertain time-delay systems. IEE Proc. Contr. Theory and Appl. 1996,143:484-488
[62]Trinh H., Aldeen M.A., Comment on decentralized stabilization of large-scale interconnected systems with delays IEEE Trans. Automat. Control 1995,40:914-916
[63] V.Vapnik The Nature of Statistical Learning Theory, Springer-Verlag, New York, 1995
[64]Wu H.S., Adaptive robust state feedback controllers for a class of dynamical systems with delayed state perturbation,Proceedings of the American Control Conference,Chicago Illinois,2000,3661-3665
[65]Wu H.S.,Adaptive robust tracking and model following of uncertain dynamical systems with multiple time delays,IEEE Trans.Automatic Control,2004,49:611-616
[66]Wu H.S.,Adaptive stabilizing state feedback controllers of uncertain dynamical systems with multiple time delays,IEEE Trans.Automatic Control,2000,45:1697-1701
[67]Wu H.S.,Continuous adaptive robust controllers guaranteeing uniform ultimate boundedness for uncertain nonlinear systems,International Journal of Control,1999,72:115-122
[68]Wu H.S.,Decentralized adaptive robust control for a class of large-scale systems including delayed state perturbations in the interconnections.IEEE Trans.Automatic Control,2002,47:1745-1751
[69]Wu H.S.,Decentralized adaptive robust state feedback for uncertain large-scale interconnected systems with time delays.Journal of optimization theory and applications,2005,126:439-462
[70]Wu H.S.,Mizukami K.,Willgoss R.A.,Decentralized robust control for uncertain large-scale time-delay dynamical systems.Control-Theory and Advanced Technology 1993,9:533-546
[71]Wu H.S.,Robust output feedback controllers for dynamical systems including delayed perturbations,International Journal of Systems Science,1999,30:211-218
[72]Xia Y.Q.,Jia Y.M.,Robust sliding-mode control for uncertain time-delay systems:an LMI approach,IEEE Trans.Automatic Control,2003,48:1086-1091
[73]Xu J.Q.,Chen S.Z.,Adaptive Control of a Class of Nonlinear Discrete-Time Systems using Support Vector Machine,Proceedings of the 5~(th)World Congress on Intelligent Control and Automation,Hangzhou,China,2004,440-443
[74]Yan J.J,Tsai J.S.H.,Kung F.C.,Robust decentralized stabilization of large-scale delay systems via sliding mode control.ASME J Dyn Syst,Meas Control 1997,119:307-312
[75]Yan J.J.,Lin J.S.,Liao T.L.,Robust dynamic compensator for a class of time delay systems containing saturating control input.Chaos,Solitons and Fractals,2007,31:1223-1231
[76]Yu L.,Chu J.,An LMI approach to guaranteed cost control of linear uncertain time-delay systems,Automatica,1999,35:1155-1159
[77]Yue D.,Robust stabilization of uncertain systems with unknown input delay.Automatica,2004,10:331-336
[78]Yue D.,Won S.,Design of delay dependent robust controller for uncertain systems with time-varying delay Control Theory and Applications 2003,20:261-265
[79]Zhu L.,Jiang C.S.,Fu X.R.,Design of robust decentralized controller for uncertain Large-Scale interconnected systems with input delay using reduction method.Journal of the graduate school of the Chinese Academy of Sciences,2005,22:38-45
[80]柴琳,费树岷.一类输入时滞的线性时滞系统的自适应H∞控制.系统工程理论与实践,2006,26:61-67
[81]柴琳,费树岷,辛云冰.线性时滞系统的新型自适应控制.南京理工大学学报,2005,29:50-54
[82]柴琳,费树岷,辛云冰.一类带未知输入时滞的多时滞非线性系统的对时滞参数的自适应H∞控制.自动化学报,2006,32:237-245
[83]陈宁,桂卫华,谢永芳,吴敏.时滞大系统分散鲁棒跟踪器设计:LMI方法.控制与决策.2001,16:94-99
[84]陈为胜,李俊民.非线性时滞系统自适应backstepping输出反馈控制.西安电子科技大学学报,2006,33:133-137
[85]费树岷,姜偕富,冯纯伯.线性时滞系统对时滞参数的自适应控制.控制理论与应用,2001,18:686-690
[86]伏玉笋,田作华,施颂椒.非线性时滞系统输出反馈镇定.自动化学报,2002,28:802-805
[87]伏玉笋,田作华,施颂椒.非线性随机时滞系统输出反馈镇定.控制理论与应用,2003,20:749-752,757
[88]桂卫华,谢永芳,吴敏,陈宁.基于LMI的不确定性关联时滞大系统的分散鲁棒控制.自动化学报,2002,28:155-159
[89]胡剑波,褚健.不匹配不确定线性时滞系统的鲁棒自适应控制.控制理论与应用,18:380-385.2001
[90]胡剑波,苏宏业,褚健.不确定时滞系统的自适应近似变结构控制.信息与控制,2000,29:407-413
[91]胡跃明,周其节.带有滞后影响的控制系统的变结构控制.自动化学报,1991,17:587-591
[92]黄公胜,刘晓平,郑连伟.一类不确定线性时滞系统的输出反馈鲁棒镇定.控制与决策,2001,16:439-422
[93]贾秋玲,何长安.不确定多时滞非线性系统的自适应鲁棒控制.西北大学学报,2002,32:609-612
[94]贾秋玲,何长安.一类不确定多时滞非线性系统的自适应H∞鲁棒控制.西北工业大学学报,2002,20:532-535
[95]姜偕富.线性时滞系统的鲁棒及自适应控制 博士毕业论文 东南大学2001
[96]姜偕富,费树岷,冯纯伯.具有状态时滞线性系统对时滞参数的自适应控制.控制理论与应用,2002,19:704-708
[97]沈启坤,张天平,孙妍.具有死区和饱和输入的自适应混沌控制.物理学报,2007,56:6263-6269
[98]苏宏业,潘红华,蒋培刚,褚健.一类具有非线性饱和执行器的不确定时滞系统鲁棒控制.控制与决策,2000,15:23-26
[99]汤红吉,张小美,陈树中.一类时变互联不确定大系统的鲁棒分散自适应控制.电机与控制学报,2006,10:66-69
[100]吴立刚,凌明祥,王常虹,曾庆双.自适应滑模控制具有状态和输入时滞的不确定系统.电机与控制学报,2005,9:443-447
[101]吴敏,张凌波,刘国屏.一类具有匹配时滞状态扰动的非线性系统自适应鲁棒镇定.控制理论与应用,2005,22:775-778
[102]谢胜利,谢振东,刘永清.时滞控制系统的无时滞变结构控制器.控制理论与应用,1998,15:879-886
[103]谢永芳,桂卫华,吴敏,陈宁.不确定性关联时滞大系统的分散鲁棒控制--LMI方法.控制理论与应用,2001,18:263-269
[104]俞立.鲁棒控制-线性矩阵不等式处理方法.清华大学出版社,2002
[105]张凌波.一类时滞不确定系统的自适应鲁棒镇定.华东理工大学学报,2005,31:406-408
[106]梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用.清华大学出版社,2003