摘要
讨论了单输入单输出非线性最小相位系统的动态输出反馈镇定 .通过加积分器和非线性变换将系统化为一种标准形式 ,并基于标准形式的线性部分提出了动态补偿器的设计方法 .然后根据得到的中心流形的表达式和稳定性定理 ,在零动态流形为一维时 ,证明了闭环系统的渐近稳定性 ,最后给出了一个零动态不具有齐次渐近稳定性但仍能动态输出反馈镇定的非线性最小相位系统的例子 .
The paper discusses dynamic output feedback stabilization of minimum phase nonlinear systems with single input and single output. The system is transformed into a normal form by adding integrators and nonlinear transformations, and dynamic output feedback for the system is established based on the linear part of the normal form. Then in the light of the expression of the center manifold and the ability theorem obtained in the paper, it is proved that the closed loop system is symptotically stable if the dimension of the zero dynamics manifold of the system is one. An example is given to illustrate the stabilizability of minimum phase nonlinear systems with zero dynamics which are not homogeneously asymptotically stable.
出处
《自动化学报》
EI
CSCD
北大核心
2000年第3期423-426,共4页
Acta Automatica Sinica
基金
国家自然科学基金
国家攀登计划资助项目
关键词
非线性系统
动态输出反馈
镇定
Nonlinear system, dynamic output feedback, stabilization.
