Analysis And Synthesis Of The Turntable's Control System Based On Saturated Switched Systems

An advanced control method will greatly improve the control system's performance. As a class of specific test equipment, the turntable's dynamic performance and precision will be improved greatly if there is a good control method to design the turntable's control system. So, the study of advanced control methods to design the turntable's control system is of great significance. Currently, the switching systems as a research focus in the control field, have more advantages than the single system on improving the systems'performance, and can avoid many shortcomings that exist in the single systems, and also be widespread applied in the practical projects. The saturation of nonlinear constraints are common exist in the actual control systems. Based on the previous work, in this paper we will research the state feedback control, robust H-infinity static output feedback control and sliding mode control issues of the switched systems. Finally, these methods will be applied to the control system of the turntable.Firstly, we will introduce the research background, development history of turntable, the basic knowledge and development of switching control, the basic knowledge and research situation of saturation term. At the same time, we will introduce the basic knowledge, the control methods, application in the switching systems and the current research of sliding mode control. And also, we will introduce the conventional dual-mode control system of turntable, the shortcomings that exit in the conventional control system.Secondly, we will investigate the problem of state feedback control for the switched systems with saturated nonlinear constraints. First of all, we will introduce a method to handle the saturation, and propose a switched state-feedback controller guaranteeing the asymptotic stability of the resulting closed-loop systems under any given switching scheme. Finally, we will let the solution conditions of the controller transform into the form of linear matrix inequalities, and will be verified by the turntable's control system model.Then, we will investigate the problem of robust H-infinity static output-feedback control for the switched systems with saturated nonlinear constraint. We will propose a method to get the robust H-infinity static output feedback controller that guarantee the closed-loop system is asymptotic stability under any switching scheme, which based on the public Lyapunov functions. At the same time, based on a linear substitution and matrix decomposition approach, the bilinear matrix inequalities can be transformed into linear matrix inequalities. Finally, the solvability conditions will be transformed into convex optimization problems with linear matrix inequalities and the method will be verified by the model of the turntable's control system.Finally, we will investigate the problem of sliding mode control for the switched systems with saturated nonlinear constraint. We will propose a method to design the switched system's sliding functions, and design the system's sliding controller which can guarantee the switched system was asymptomatic stability. And the method will be used into the design of the turntable's control system.