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通过微分同坯映射将仿射非线性系统方程的非线性因素转换到含有控制输入的状态方程,转换后的系统中所有不确定项都归结到扩张状态变量中。利用扩张状态观测器观测该部分,并经状态反馈将其线性化。由于实际系统存在观测误差和模型误差,为了进一步考虑反馈线性之后系统的不确定性,将鲁棒控制引入励磁控制器的设计之中,使得设计的控制器具有更好的鲁棒性,最后在Matlab上进行仿真试验。仿真结果证明了该方法的有效性。
The nonlinear factors of the affine nonlinear system equations are transformed into the state equations with control inputs by the differential homography mapping. All the uncertainties in the transformed system are reduced to the expansion state variables. This section is observed using an extended state observer and linearized by state feedback. In order to further consider the system uncertainty after the feedback linearization, due to the observational error and model error of the actual system, the robust control is introduced into the design of the excitation controller to make the designed controller have better robustness. Finally, Matlab simulation test. Simulation results show the effectiveness of this method.