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提出一种非线性系统预测控制的分层设计方法。首先采用广义线性化状态反馈得到具有指定动态的线性化系统,然后采用基于状态方程的预测控制算法,以获得良好的跟踪性和鲁棒性。最后以仿真例子证实了这种控制方案的有效性。
A hierarchical design method of nonlinear system predictive control is proposed. First, the generalized linearized state feedback is used to get the linearized system with the specified dynamic, and then the predictive control algorithm based on the state equation is adopted to obtain good tracking and robustness. Finally, a simulation example shows the effectiveness of this control scheme.