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LOCALLY CONSTRAINED OPTIMAL AND GLOBALLY STABLE BACKSTEPPING DESIGN

机译:本地受约束的最佳和全球稳定的反向设计

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摘要

Robust nonlinear controller design with constraint on the poles' location of the linear part of closed-loop system is proposed. The design method is based on the integrator backstepping procedure and linear constrained ∞ H for nonlinear strictfeedback systems with disturbance also in strict-feedback form. The resulted closedloop system will be globally stable, while both local robustness and desired α- stability are achieved. An analytic example is used to compare the performance of the proposed methodology with that of the locally optimal backstepping design with no closed-loop poles constraint.
机译:提出了具有对磁极截面系统线性部分的杆子的限制的强大的非线性控制器设计。设计方法基于积分器BackStepping程序和线性约束∞H对于非线性严格返回系统,具有干扰的非线性故障形式。所产生的闭合系统将是全局稳定的,而局部稳健性和所需的α-稳定性也是如此。分析示例用于比较所提出的方法的性能与局部最佳的反向关节设计的性能,没有闭环极点约束。

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