CAJ | 학술논문

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。
통과미분동배영사장방사비선성계통방정적비선성인소전환도함유공제수입적상태방정，전환후적계통중소유불학정항도귀결도확장상태변량중。이용확장상태관측기관측해부분，병경상태반궤장기선성화。유우실제계통존재관측오차화모형오차，위료진일보고필반궤선성지후계통적불학정성，장로봉공제인입려자공제기적설계지중，사득설계적공제기구유경호적로봉성，최후재Matlab상진행방진시험。방진결과증명료해방법적유효성。
By means of differential homeomorphic mapping, nonlinear elements in affine nonlinear system equation are transformed into the state equation containing control inputs, and in the transformed system all uncertain items are come down into extended state variables. The extended state variables are observed by extended state observer （ESO） and linearized by state feedback. In view of observation error and model error in actual system, to further consider the uncertainty of the system after feedback linearization, the robust control is led into the design of excitation controller to make the designed controller possessing better robustness. The effectiveness of the proposed method is verified by results of Matlab based simulation.