Robust Control Of Uncertain Systems With Regional Pole Constraints

The modern control theory based on state-space has been developed since 1950's. The problem on MIMO system has been better solved by the modern control theory than the classic one. But its analysis depends on the given system model, so it can't work when there are model errors in the system. And in practice, there are unknown disturb input, which means the existence of uncertain errors, so it's hard to set up an exact mathematics model for the controlled.However, the robust control takes the uncertain errors in the mathematics model into account. The feedback controller, which can makes the closed-loop systems asymptotically stable and has the satisfied dynamic performance, is designed. The theory is adapted not only to the robust analysis of SISO system and MIMO system, but also to the controller design of linear and nonlinear system. To this day, modern robust control, which has been developed to the other areas such as fuzzy control and adaptive control, is an important part of theory control.H∞ Control theory, developed since 1980's and characterized by infinity norm of transfer function matrix of systems, is comparatively perfect and abroad in the area of robust control. Much analysis on robust control can be transformed to the standard form of robust H∞ control theory. And it's much more applicable for the practice because it conserves some strengths of the modern control theory.Riccati method and LMI method are two chief methods in H∞ control theory. Riccati method, based on Lyapunov stability theory, is that the design of feedback controller is transformed into the existence problem of positive symmetrical solutions of Riccati equation. But it's fussy to adjust the parameters manually. While LMI method gets over the shortcomings of Riccati method, and converts the H∞ control problem to the convex programme. And LMI can be easily solved by LMI toolbox in Matlab.Although the problem of systems' robust performance can be better solved by H∞ control theory, it costs other performances of systems. After the closed- loop poles are placed at a prescribed region in the left-half plane, the remaining design flexibility can be used to restrain the harmful effect which is brought by uncertainty and gain the satisfied dynamic performance for this problem. So, based on robust control theory, the poles of systems are placed at a prescribed circular region via feedback so that the systems can satisfy the robust stable performance and disturbance-restrained performance in this thesis. And the robust control problem of uncertain systems with regional pole constrain is discussed from the following three aspects: the designs of state feedback controller state observer and dynamic output-feedback controller.