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입력 포화를 갖는 선형 파라메타 변형 시스템의 H<SUB>2</SUB> 상태-궤환 제어
박범용,윤성욱,송주만,박부견 제어로봇시스템학회 2010 제어로봇시스템학회 국내학술대회 논문집 Vol.2010 No.5
This paper proposes a controller design method for linear parameter-varying (LPV) systems with input saturation. Based on the parameter-dependent feedback gain matrix K(θ(t)) and the parameter-dependent Lyapunov function (PDLF) V(χ(t)), an H<sub>2</sub> state-feedback controller is designed. To this end, the conditions for designing the H<sub>2</sub> state-feedback controller are first formulated in terms of parameterized linear matrix inequalities (PLMIs). Then, they are converted Into linear matrix inequalities (LMIs) by using a parameter relaxation technique. The simulation results for a two-mass-spring example show that the proposed controller outperforms the conventional controller because of using the PDLF and the parameter relaxation technique.