论文标题
保证非线性系统LPV控制中渐近稳定性的陷阱
Pitfalls of Guaranteeing Asymptotic Stability in LPV Control of Nonlinear Systems
论文作者
论文摘要
最近,在线性参数变化(LPV)控制合成中,用于实现非线性系统的渐近输出跟踪和干扰排斥反应的许多反示例浮出水面,即使在设计过程中考虑的计划变化仍然存在。已经观察到,即使存在积分作用,受控系统可能在存在界面常数输入干扰的情况下在平衡点上表现出振荡运动。这项工作旨在调查目前在LPV框架中广泛使用的基线Lyapunov稳定性概念以及为什么无法保证所需的系统行为。具体而言,这表明了为什么二次lyapunov概念不足以保证在参考跟踪和干扰拒绝场景下渐近稳定性,以及为什么LPV稳定性分析和控制器合成所需的平衡独立稳定性概念。引入的概念和明显的陷阱通过模拟示例证明。
Recently, a number of counter examples have surfaced where Linear Parameter-Varying (LPV) control synthesis applied to achieve asymptotic output tracking and disturbance rejection for a nonlinear system, fails to achieve the desired asymptotic tracking and rejection behavior even when the scheduling variations remain in the bounded region considered during design. It has been observed that the controlled system may exhibit an oscillatory motion around the equilibrium point in the presence of a bounded constant input disturbance even if integral action is present. This work aims at investigating how and why the baseline Lyapunov stability notion, currently widely used in the LPV framework, fails to guarantee the desired system behavior. Specifically, it is shown why the quadratic Lyapunov concept is insufficient to always guarantee asymptotic stability under reference tracking and disturbance rejection scenarios, and why an equilibrium independent stability notion is required for LPV stability analysis and synthesis of controllers. The introduced concepts and the apparent pitfalls are demonstrated via a simulation example.