Research On Design And Application Of Robust Controller Based On Gap Metric

At first, this article gives concept of the gap between two Banach Spaces and the gap between two operators. The concept of gap topology is established later in this part, some other metric methods are also introduced. This article also introduces that the angle metric and the gap metric is equivalent. This article provides methods on design of the robust controller. Based on the normalized left and right coprime factorization,this article gives the concept of the stabilize radius. The problem of robust control becomes maximizing the stabilize radius, this problem can be translates to the Nehari problem with the symbol of Hankel operator. At the same time, this article provides some algorithms on the design of robust controller and the reduction of the order of the controller.The last part of this article provide examples on designing the robust controller of one-axis turntable first, we fit the nominal model of plant from the experimental data, analysis the mathematic model of the system uncertainty. Based on these models, the robust controller is designed, and the simulation results are provided. Finally, the robust control theory based on gap metric in nonlinear system is analyzed, the design of the controller and the simulation results are showed.