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چكيده انگليسي :

Inverse optimal control of bounded quadratic multi input systems based on control lyapunov function Mohammad Reza Ghasemi mr ghasemi@ec iut ac ir Date of Submission 2009 08 16 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisors Jafar Ghaisari ghaisari@cc iut ac ir Saeed Hosseinia hoseinia@cc iut ac irAbstract Optimal control obtains a control law for a dynamic system guaranteeing close loopstability as well as minimizing a cost function on states and inputs Analytical solution of anoptimal control problem in nonlinear systems results in a partial differential equation known asHamilton Jacobi Bellman HJB which is complex or impossible to solve except in specialproblems So researchers have looked for control laws using some simplifying assumptions One ofthese methods is inverse optimal control in which a cost function is made according to a stabilizingcontrol law Meanwhile there are always some limitations on inputs of physical systems such asupper or lower bounds Neglecting input limitations in a control strategy may lead to instability ofclose loop system Therefore in this thesis an inverse optimal control strategy is proposed forquadratic nonaffine systems with bounded inputs based on a stabilizing control law Controllyapunov function CLF is used to design the stabilizing control law Although control lyapunovfunction has been applied to affine systems it has been rarely considered in nonaffine systems Since quadratic nonaffine systems consist of vast and important kinds of nonlinear systems thisthesis is focused on quadratic nonaffine systems with bounded inputs First designing methods ofcontrol lyapunov function to stabilize quadratic nonaffine system are investigated Then sometechniques are proposed to overcome the drawbacks of those methods Specially to find acontinuous stabilizing control law for general quadratic nonaffine systems with bounded inputs anew method is proposed which is based on control lyapunov function and coordinates rotation Next inverse optimal problem in quadratic nonaffine systems is addressed The required conditionson inputs are declared and then it is shown that proposed stabilizing control law for quadraticnonaffine systems can also solve an inverse optimal control problem At last to prove the proposedmethod in practice a continuous stabilizing control law is designed for a laboratory magneticlevitation system which is a single input quadratic nonaffine system The designed control law isverified and compared with some other controllers through simulation and experimentalimplementation Keywords Quadratic nonaffine systems Bounded inputs Control lyapunov function Inverse optimalcontrol Magnetic levitation system

قاسمي، محمدرضا

كنترل بهينه معكوس سيستم هاي چند ورودي مربعي مقيد با استفاده از تابع كنترل لياپانوف

سيستم nonaffine , سيستم تعليق مغناطيسي