δ算子的LQR设计

LQR DESIGN USING δ OPERATOR

  • 摘要: 证明了在相同指标要求下δ离散域的反馈控制应完全等同于Z域的反馈控制,导出了δ域二次型最优解;证明了在相同加权下当采样周期T→0时,δ域的最优增益趋近于连续域最优解,从而可以通过解连续域的Riccati方程直接得到离散控制律,δ域的闭环特性比Z域更接近连续域的闭环特性.并对几种方法进行了比较研究,验证了上述结论.

     

    Abstract: This paper proved the feedback control of δ discrete domain is equal to that one of Z domain under the same closed-loop characteristics.The approximate solution of LQR design using δ operator is obtained.It is proved that when the sampling interval T→0 the optimal gain using δ operator approximates to that one of its continuous system under the same quadratic cost function and can be solved directly by the con- tinuous Riccati equation.The closed-loop characteristics of systems using δ operator are also more close to that ones of the continuous systems than using Z operator.An example is used to compare these methods and verify the above results.

     

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