非线性控制Nonlinear Control概要课件.ppt
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1、非 線 性 控 制Nonlinear Control,林心宇長庚大學電機工程學系2010春,教 師 資 料,教師:林心宇Office Room:工學大樓六樓Telephone:Ext.3221E-mail:shinylinmail.cgu.edu.twOffice Hour:2:00 4:00 pm,Thursday,教 科 書,Textbook:Jean-Jacques E.Slotine and Weiping Li,Applied Nonlinear Control,Pearson Education Taiwan Ltd.,1991.Reference:Alberto Isidori,
2、Nonlinear Control Systems,Springer-Verlag,1999.,課程目標及背景需求,1.介紹如何以Phase Portrait及Lyapunov Method分析非線性系統穩定性及控制器的設計。2.介紹Feedback Linearization,Sliding Control及Adaptive Control等方法。背景需求Linear System TheoryElementary Differential Equations,評 量 標 準,作業(20%)正式考試 2 次(各40%),Chapter 1,Introduction,1.1 Why Nonli
3、near Control?,-Linear control methods rely on the key assumption of small range operation for the linear model to be valid.-Nonlinear controllers may handle the nonlinearities in large range operation directly.,Improvement of Existing Control Systems,Analysis of hard nonlinearities,Linear control as
4、sumes the system model is linearizable.Hard nonlinearities:nonlinearities whose discontinuous nature does not allow linear approximation.Coulomb friction,saturation,dead-zones,backlash,and hysteresis.,Dealing with Model Uncertainties,In designing linear controllers,we assume that the parameters of t
5、he system model are reasonably well known.In real world,control problems involve uncertainties in the model parameters.The model uncertainties can be tolerated in nonlinear control.,Design Simplicity,Good nonlinear control designs may be simpler and more intuitive than their linear counterparts.This
6、 result comes from the fact that nonlinear controller designs are often deeply rooted in the physics of the plants.Example:pendulum,1.2 Nonlinear System Behavior,Nonlinearities,Inherent(natural):Coulomb friction between contacting surfaces.Intentional(artificial):adaptive control laws.Continuous Dis
7、continuous:Hard nonlinearities(backlash.,Hysteresis.)cannot be locally approximated by linear function.,Linear Systems,Linear time-invariant(LTI)control systems,of the formwith x being a vector of states and A being the system matrix.,Properties of LTI systems Unique equilibrium point if A is nonsin
8、gularStable if all eigenvalues of A have negative real parts,regardless of initial conditionsGeneral solution can be solved analytically,Common Nonlinear System Behaviors,Nonlinear systems frequently have more than one equilibrium point(an equilibrium point is a point where the system can stay forev
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