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研究了具有控制输入饱和约束和时变采样周期的水箱液位系统保性能控制问题.首先,基于液体动力学对水箱液位系统进行建模,并用M序列激励水箱得到的实测数据进行模型验证.其次,根据采样周期的不同,将液位系统建模成一个具有多个子系统的离散时间切换系统.基于李雅普诺夫稳定性原理及平均驻留时间方法,给出具有控制输入饱和约束的最优保性能的状态反馈控制器存在条件,并将控制器增益的求解转化为一个凸优化问题.最后,将控制算法应用于水箱液位系统实验平台.实验结果验证了控制算法的有效性.
The control problem of tank liquid level system with control saturation and time-varying sampling period is studied.Firstly, the tank liquid level system is modeled based on the liquid dynamics and verified by the measured data obtained from the M-tank. Secondly, according to the different sampling period, the liquid level system is modeled as a discrete time switching system with multiple subsystems.According to the Lyapunov stability principle and the average dwell time method, the optimal control system with saturated input constraints The existence of conditions for the guaranteed state feedback controller and the solution of the controller gain are transformed into a convex optimization problem.Finally, the control algorithm is applied to the tank liquid level system experimental platform.The experimental results verify the effectiveness of the control algorithm.