时滞不确定系统DMC约束控制的鲁棒性条件

摘要

讨论具有控制变量约束的时滞线性不确定系统DMC算法的鲁棒稳定性充要条件.共有两个部分：1)线性时滞DMC约束控制算法，通过在预测模型中引进模型误差补偿量ε1(k)和干扰修正量ε2(k)来补偿预测输出，减小预测误差；2)给出闭环系统鲁棒稳定的充要条件，得出了保证系统鲁棒性的模型误差、干扰、预测误差、跟踪误差以及期望输出各量之间的定量关系.%Sufficient and necessary conditions for delay linear uncertainsystems(DLUS) with constrained control variable are discussed in this paper.There are two contributions:first,the new DMC control algorithm is given,in which compensations ε1(k) for model error and ε2(k) for disturbance are introduced to decrease predictive error;second,the sufficient and necessary conditions for robust stability of the closed loop system are given and the relations between model error,disturbance,predictive error and expected output that assure robust stability of the system are investigated.