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관측기 모델 선정을 통한 모델 불확실성을 갖는 선형 시불변 시스템 강인 안정화
오상록(Sangrok Oh),김정수(Jung-Su Kim),심형보(Hyungbo Shim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
This paper presents a robust observer?based output feedback control for stabilization of linear time invariant systems with polytopic uncertainties. To this end, this paper not only finds a robust observer gain but also suggests how to determine the model used in the observer, which is not obvious due to model uncertainties in the conventional observer design method. The robust observer gain and the observer model are selected in a way that the whole closed-loop is stable by solving LMIs and BMIs (Linear Matrix Inequalities and Bilinear Matrix Inequalities). A simulation example shows that the proposed robust observer-based output feedback control successfully leads to closed-loop stability.