实际工程中的许多被控系统(如航天器,机器人,飞机等)几乎都处在一种变化的环境中,用精确的数学模型描述这类系统是不现实的。因此,研究考虑了这种不确定性的系统控制问题,在理论和应用中都有重要意义。 考虑用下述状态方程描述的不确定系统 (?)=(A_0+△A(r,s))X+(B_0+△B(r,s)u) (1)其中,X∈R~n,系统状态,n为系统阶数,u∈R~m,控制信号,A_0,B_0是适当维数的常值阵,r,s分别为p维和q维未知参数矢量,△A(r,s),△B(r,s)分别是与A_0,B_0同维的不确定矩阵。如系统同时还受外扰W(r,s)的影响,则式(1)为 Many controlled systems (such as spacecraft, robotics, aircraft, etc.) in actual projects are almost always in a changing environment. It is unrealistic to describe such systems with accurate mathematical models. Therefore, it is of great significance both in theory and in application to study the system control problem considering this kind of uncertainty. Consider the system of uncertainties described by the following equation of state () = (A_0 + ΔA (r, s)) X + (B_0 + ΔB (r, s) u) where X∈R ~ n, , n is the system order, u∈R ~ m, the control signal, A_0, B_0 are the normal value matrices of the appropriate dimension, r, s are the parameter vectors of the p dimension and the q dimension unknown parameter respectively, △ A (r, s) B (r, s) are the indefinite matrices of the same dimension as A_0, B_0, respectively. If the system is also affected by the external disturbance W (r, s), then (1) is