具有可测干扰非线性系统的前馈/反馈线性化

摘要

The linearization of some nonlinear system with measurable disturbances is studied.Based on the concept of relative order of the output withN respect to theinput,the concept of relative order of the output with respect to the disturbances is applied.Then a nonlinear feedforward/state feedback transformation law is developed.Depending on the structural characteristics of the system,the transformation law can be static or dynamic.This transformation law can basically liminate the effect of themeasurable disturbances on the out-put and induce a linear behavior in the closed-loop system between the output and the reference input.Finally,the performance characteristics of the transformation law is illustrated through a computed example.%研究了一类具有可测干扰的非线性系统的线性化问题。在基于输出对控制输入的相对阶基础上，应用了输出对干扰输入的相对阶概念，给出了一个非线性前馈/状态反馈变换律，与系统的结构特性有关，变换律可能是静态的也可能是动态的，从而可以基本消除可测干扰对系统输出的影响，并且在闭环系统中得到了一个线性输入输出的关系。最后给出了计算实例来证明所提变换律的有效性。