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针对一类带有状态时滞的线性离散不确定系统,提出一种基于LMI的保性能预见控制器设计方法。首先引入差分算子,将时滞系统转换为一般系统,同时对可预见的未来目标值信号作差分处理,构造出包含未来目标值信息的扩大误差系统;其次引入保性能控制,导出扩大误差系统在相应性能指标下渐近稳定的充分条件;最后通过求解一个有LMI约束的优化问题,得到了系统的最优保性能预见控制律。
For a class of linear discrete-time uncertain systems with state delay, a design method of guaranteed-safety predictive controller based on LMI is proposed. Firstly, the differential operator is introduced to transform the time-delay system into a general system. At the same time, the predictive future target value signal is differentiated to construct an extended error system with future target value information. Second, the guaranteed cost control is introduced to derive the extended error system The sufficient conditions for the asymptotic stability of the system under the corresponding performance index are obtained. Finally, by solving a optimization problem with LMI constraints, the optimal control law of the system is obtained.