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Vahid Azimi,Peyman Akhlaghi,Mohammad Hossein Kazemi 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes robust H₂/H∞ multi-objective state feedback controller for nonlinear uncertain systems. To apply the H₂/H∞ multi-objective state feedback method, the nonlinear dynamics is represented by a T-S fuzzy model. First, uncertain parameters and Quantification of uncertainty on physical parameters is defined by affine parameter-dependent systems method. Next, the Takagi and Sugeno"s fuzzy linear model is utilized to approximate uncertain nonlinear systems. Then, some states (error of tracking) are augmented to the system in order to improve tracking control. Finally, based on fuzzy linear model with augmented state, a H₂/H∞ multi-objective state feedback controller is developed to achieve the robustness design of nonlinear uncertain systems. LMI (Linear Matrix Inequality) method and PDC (Parallel Distributed Compensation) are used to design the controller for the whole system. The results show that the proposed method can effectively meet the performance requirements like robustness, disturbance rejection and tracking for the 3-phase permanent magnet synchronous motor (PMSM).