Digital-Redesign Tracker for Unknown System with a Direct Feed-Through Term and Constraints: An Adaptive Mechanism for Tuning Weighting Matrices

論文翻譯標題: 適用於含直接傳輸項並具有飽和限制之未知系統的數位再設計軌跡追蹤器:基於一種適應性權重調整機制
  • 王 秉鑫

學生論文: Master's Thesis


This thesis proposes an OKID-based adaptive mechanism for tuning weighting matrices of muti-objective cost function: An application to the digital redesign tracker for the unknown system with a direct feed-through term and input/state/output constraints First the observer/Kalman filter identification (OKID) is used to identify the unknown and nonlinear system with a feed-through term into the equivalent mathematical model containing a feed-through term; this identified model is used for the design of the controller and observer By adding constraint terms into the linear quadratic performance index a new linear quadratic digital tracker is derived to track the desired reference and posses the effectiveness of constraints Further an OKID-based adaptive mechanism for tuning the weighting matrices is constructed in the cost function to update input state and output which exceed the limit bounds of saturation and make them update quickly and accurately Next the observer-based digital tracker is proposed for the system if the state is immeasurable Illustrative examples realize the effectiveness of the proposed design
獎項日期2014 7月 29
監督員Jason Sheng-Hon Tsai (Supervisor)