非线性系统的块对角控制器设计及其应用

定义了非线性系统的块对角模型；根据奇异摄动理论，将模型受控变量以时间尺度基准进行分离，形成慢变快变等结构。所设计的控制系统呈多环结构，每一层子系统(外环层)期望的稳定输入信号做为内环层的期望输出，该期望输入信号满足所设计的该层Lyapunov函数稳定要求，层层递推，最终设计出非线性系统的稳定化控制规律。若存在零动态，则其应稳定；设计的结果已经被一战术导弹的数学仿真所证明。

The design of nonlinear system block diagonal controller and its application

The block diagonal model of nonlinear system is defined.According to singular perturbations theory,the controlled variables of model were separated into fast variation and slow variation terms based-on time-scale.The desired stabilization input signals of each layer sub-system (inner loop) was produced by the last layer sub-system (outer loop).In each step,the desired stabilization input signal was solved through constructing this layer Lyapunov function stabilization condition.if the relative degree of system was less than the order of system,the zero dynamic of system was required stable.At last,the stabilization control law of the whole system was designed.The design result is proved by mathematical simultaion of a certain anti-ship missile.