Concerning the time delay systems with norm - bounded uncertainties or convex polyhedron uncertainties , the problems of robust stability criteria , the design methods of robust stabilizing controller and the design of controller that guarantee certain robust performance by state feedback or output feedback are investigated . the results can be classified as delay - independent and delay - dependent 针对具有范数有界不确定参数或凸多面体不确定参数的不确定时滞系统，采用状态反馈控制器或者输出反馈控制器，研究其鲁棒稳定性分析、鲁棒镇定控制器设计以及具有鲁棒性能约束的控制器设计问题，得到相应时滞无关或者时滞依赖结果。
Then an impedance control strategy with robust performance is presented aiming at uncertainties of robot , fnn is used to learning the uncertainties in order to eliminate disturbance , which have good robust and high value in practice . finally , an adaptive method is presented 为此，本文又在机器人阻抗控制的基础上，针对机器人和环境的不确定性，提出一种具有鲁棒性的阻抗控制结构，使用模糊神经网络作为补偿控制器消除力控制中的所有不确定性，具有较强的鲁棒性和较好的实用价值。
3 . under the conditions of sound velocity perturbation and the unmodel dynamic , active structure acoustic control system with robust h _ controller is simulated in this thesis . the performance of the robust h _ controller is compared with standard controller , the results show that the robust h _ controller possess famous robust performance 3 .对基于鲁棒h _控制理论的结构振动声辐射主动控制系统,在考虑流体声速摄动和未建模动态的影响下进行了仿真研究,同标称控制器的性能对比表明,鲁棒h _控制器具有令人满意的的稳定鲁棒和性能鲁棒性。
The mixed sensitivity problem is also researched in this thesis . the relation of the performance weighting function and the robust weighting function is analyzed . the effect of control path characteristic to system robust performance is taken as a new method to determine the locations of sensors and actuators 分析了混合灵敏度设计问题,阐明了性能加权函数和鲁棒加权函数的关系,以及控制通道特性对系统鲁棒性的影响,为传感器、致动器位置选择提供了新的依据。
Unlike traditional differential geometrical method , the robust adaptive neural net - based control emphasizes on the theory and application of intelligence control in nonlinear system that is weighed by robust performance index . the problem of robust reliability and stability in a kind of weak nonlinear system is first proposed in the dissertation , and then it deeply analyses and discusses the problem of how to design track controller in strong nonlinear system with uncertainties and external disturbance on the premise of guaranteeing the whole system ' s robust performance index . the distributed 3d flight simulation platform is mainly used to validate real - time program and evaluate the efficiency of advanced flight control laws , therefore , some theories and techniques related to the platform are also introduced 基于神经网络的鲁棒自适应控制研究和分布式三维飞行仿真平台的构建是本论文研究的两个主要内容，与传统微分几何方法不同的是，基于神经网络的鲁棒自适应控制侧重于智能控制方法在以鲁棒性为性能指标的非线性系统中的理论和应用研究，论文以一类弱非线性系统的鲁棒可靠镇定问题为引线，逐步深入地分析和探讨了在保证整个被控系统鲁棒性能指标的前提下，对于几类具有不确定性和外部扰动的强非线性系统跟踪控制器的设计问题；分布式三维飞行仿真平台主要用于先进飞行控制律的实时程序验证和效能评估之用，因此关于平台的一些开发原理和技术方法也在文中给出了介绍。
The guaranteed cost control problem of robust stabilization and robust performance for uncertain systems which is described by 8 operator is discussed in this paper . the condition of existing guaranteed cost controller is analyzed and proved in which the method of linear matrix inequality ( lmi ) is used . a output feedback controller of the uncertain discrete time system described by 6 operator is designed , which guarantees the system is quadratic stabilization 采用线性矩阵不等式( lmi )处理方法研究了delta算子描述的不确定离散系统的输出反馈保成本控制问题，设计了输出反馈控制器，使得闭环不确定系统不仅是鲁棒稳定的，而且对所有允许的不确定性，给定二次型性能指标的闭环性能值不超过某个确定的上界。
Compared with normal pid , we can draw a conclusion that the control strategies have stronger robust performance and better dynamic performance from simulating results . finally , with the respect of the control system realization the thesis not only shows the design and debugging of the control system ' s hardware and software respectively but also gives the results of the control system under the industrial condition 通过仿真结果可知，本文所采用的控制策略与常规的pid控制相比，具有较强的鲁棒性和良好的动态性能。最后，本文从控制系统实现的角度，分别阐述了该控制系统硬件和软件的设计与调试，并且给出了该控制系统在工业现场运行的结果。
Because the extension of dynamic change in weak nonlinear system is not large , the robust reliable controller designed by ldi can make the whole controlled system stable when time lag and faults exit in the system , at the same time , satisfying robust performance index of the system . next , considered that the approximation error produced by ldi , the unmodeling error produced by system , the parameter uncertainties and the external disturbances can not be ignored , a dynamic neural network controller is designed to compensate their effect on line . adjusted by the state output error between the ideal model and the controlled system , the cooperation of on - line network compensator and linear h _ ( ) controller of ideal model makes the whole close - loop system guar antee robust stability and track the specified signal well 本文在基于线性微分包含( ldi )的技术基础上，提出了两种非线性系统的鲁棒控制方法，首先讨论了一类弱非线性时滞控制系统中的鲁棒可靠控制器设计问题，由于弱非线性系统本身的动态变化范围不大，在确保整个系统鲁棒性能指标的前提下，当系统存在时滞和故障时，通过ldi设计出的鲁棒可靠控制器可以镇定整个被控系统；其次，在考虑运用ldi技术产生的逼近误差、系统本身的未建模误差及参数不确定性以及外部扰动的影响不能被忽略的情况下，设计了在线补偿这部分影响的动态神经网络控制器，在理想模型和被控系统状念输出误差的调节作用下，在线神经网络补偿器与理想模型的线性h _控制器相互配合，使得整个闭环系统既可以保证鲁棒稳定性又能够跟踪给定的指令信号。
The uncertainty of the system can be regard as the disturbance and it can be approximated by wavelet neural network disturbance observer . then a robust adaptive h control method and a model predictive control method based on disturbance observer are proposed for a class of mimo nonlinear uncertain systems , at the same time these methods are used to design the robust adaptive flight control system . the designed robust flight control system can not only guarantee stability robust of flight , but also guarantee the flight control system have some robust performance indexes 为了克服这些缺点，将飞行控制系统的不确定性看作系统所受的干扰，应用小波神经网络干扰观测器进行逼近，并基于干扰观测器的输出提出了一类多输入多输出不确定非线性系统的鲁棒自适应h _控制方法并应用于鲁棒自适应h _飞行控制系统设计以提高飞行控制系统的性能鲁棒；为了进一步提高系统的性能鲁棒，针对一类多输入多输出不确定非线性系统基于小波神经网络干扰观测器设计一种模型预测控制律并应用于鲁棒自适应h _飞行控制系统设计。
Besides , the converters have unmodeled dynamics . so the traditional controller for hvdc based on the classical control theory can not meet the requirements in practice . although , pi controllers are widely used in the hvdc systems , they have high sensitive responses to random disturbances , low robust performance , and can not solve some problems in power systems , such as unmodeled dynamics , nonlinear uncertainties 直流输电线路中的换流器具有很强的非线性，系统的运行工况随时都会发生改变，系统扰动发生的地点、类型及严重程度具有随机性；此外，换流器还含有未建模动态部分，这些因素使得基于直流输电系统准静态模型的常规控制器设计方法常常不能很好地满足系统的实际要求。
