Nonlinear Robust Control Design And Application For System With Input Constraints

This paper nonlinear robust control design and application are introduced to systemwith input constraints. In the actual control, saturated nonlinear control system is one ofthe potential problems of actuator. The input constraints are almost existed everywhere,when the system occurs actuator saturation, it has great influence on the performance,even leads unstable phenomenon. Some control variables must be restricted in the system,especially they have a strict requirement for the output of the controller. If it is animproper control, it will make the system performance degradation, and has a bigovershoot and a long adjustment time. For the unstable system, it can lead instability forthe closed loop. It is very important to processing the nonlinear actuator saturation. Nomatter in theory or in practice, it has the vital significance for the constraint inputssystem.Operator-based robust right coprime factorization has proposed for the study andapplication of the water level system, and also connected with sliding variable structurecontrol method. The propsed method is realized the control of the input constraints. Theexperimental results verfy the effectivecess of the designed algorithm.In the thesis, it firstly introduced the relevant theories of operator, and put forward thetechnique of robust right coprime factorization. It has a simple introduce of controller.Then, it is introduced the design of hardware and software based on water level controlsystem. And it is designed the controller for the water level model by robust rightcoprime factorization. Then, we have the simulation and experiment, the results show theeffective of the algorthm.At last, for the result of nonlinear saturation, we put forward the connected method byrobust right corprime factorization and sliding variable structure control. We have a briefoverview of sliding variable structure control, and designed controller for the contraint inputs. Simulation and experiment verify the validty of the desiged method.