Design of Absolutely Robust Control Systems for Multilinked Plants on the Basis of an Uncertainty Hyperobserver

摘要

A new approach to control of indeterminate dynamic plants based on the Lyapunov function method is proposed. The concept of this approach consists in compensating for the general components of the plant's incomplete model as potential sources of parasite dynamics and imparting the desired behavior to the reduced system. The condition of absolute observability of the indeterminate plant's dynamics is obtained. In the hyperobserver, two approaches are combined that are based on a great gain coefficient and an uncertainty observer, respectively. Consequently, the proposed system is a combined robust system and has a number of qualities not inherent in any of the local systems taken separately. The possibility of unlimited increasing the gain coefficient allows suppression of the undercompensated model components to an indefinitely small value. This ensures a high response speed and high tracking accuracy. In the limit, the system is described by a linear homogeneous equation. This feature allows one to determine the process control settings on the basis of the set qualitative characteristics using methods of the linear system theory, in particular, the modal control method. The modal problems are solved in the Matlab/Simulink environment.