Almost Disturbance Decoupling for a Class of Minimum-Phase Higher-Order Cascade Nonlinear Systems
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摘要: 讨论了一类最小相高阶串联系统的几乎干扰解耦问题的反馈设计,对一般的由L2m-L2mp所定义的非线性增益指标,利用加幂积分器和Back-stepping方法,我们构造性的给出了一种光滑控制律的设计方法,保证闭环系统在内稳定的基础上,使系统达到干扰衰减。Abstract: The problem of almost disturbance decoupling (ADD) with internal stability is discussed,for a class of high-order cascade nonlinear systems having zero dynamics.Using adding power integeator techniques, the ADD problems via a static state feedback is solved.
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Key words:
- almost disturbance decoupling /
- internal stsbility /
- nonlinear gain
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