状態予測器を用いた離散時間最適レギュレー夕のロバスト安定性

抄録

This paper is concerned with robust stability of the predictor-based optimal regulators for discrete-time linear systems with input delays. First, guaranteed stability margins are obtained from the minimum singular value of the return difference matrix at the input of plants. The influence of the input delays on the guaranteed stability margins is discussed and some useful observations are given. Second, the robust stability for perturbations of the system matrix and/or the gain matrix is considered. Admissible bounds for the perturbations are obtained by using Lyapunov function for the extended system. However, it is pointed out that this method provides extremely conservative bounds. An alternative method for obtaining less conservative bounds is proposed under certain restriction on the nominal system. Numerical examples are given to illustrate the influence of the input delays on the stability margins and the admissible bounds.