【摘要】 基于非线性系统的微分几何理论相对阶概念,研究了一类M IMO非线性系统的干扰解耦问题(DDP),定义了M IMO系统关于干扰的向量相对阶,给出了该类非线性系统通过静态状态反馈的干扰解耦可解的充分必要条件,并进一步讨论了解耦系统反馈镇定问题,给出了解耦系统可镇定的充分条件,仿真结果验证了该方法的有效性.更多还原

【Abstract】 Based on the relative-degree concept of differential geometry theory on nonlinear system,the disturbance decoupling problem(DDP) is studied for a class of MIMO nonlinear systems.First,the vector relative-degree associated with the disturbances is defined.Sufficient and necessary conditions are then given for solvability of DDP via static state feedback.Furthermore,the stability of the decoupled systems is discussed and its sufficient condition is given.Finally,Simulation results are given to illustrate the effectiveness of this method.更多还原