H∞almost disturbance decoupling for a class of linear systems: a constructive approach
The basic \(H_\infty\) almost disturbance decoupling problem with internal stability (\(H_\infty\)-ADDPS) is to find a feedback control law such that the \(L_2\) gain from the disturbance to the regulated output of the closed-loop control system is less than or equal to any prespecified constant while internal stability of the system is maintained. By using a backstepping-like technique, the authors propose a new approach to \(H_\infty\)-ADDPS for the following class of linear systems \[ \begin{aligned} \dot x_i&=\sum_{j=1}^i A_{ij}x_j + B_ix_{i+1} + C_i\omega,\quad i = 1,\dots,q-1, \\ \dot x_q&=\sum_{j=1}^q A_{qj}x_j + B_qu + C_q\omega, \\ z& =D_1x_1, \end{aligned}\tag{1} \] where \(x^\tau = (x^\tau_1,\dots,x^\tau_q)\) is the state vector, \(x_i\in\mathbb R^{n_i}\), \(\omega\in\mathbb R^{n_\omega}\) is the disturbance vector, \(u\in\mathbb R^{n_u}\) is the control input vector, \(z \in\mathbb R^{n_z}\) is the penalty vector, \(A_{ij}\), \(B_j\), \(C_i\), \(D_1\) are constant matrices with compatible dimensions for \(i,j= 1,\dots, q\), and \(B_i\) has full row rank. It is shown that the \(H_\infty\)-ADDPS can always be solved for the linear systems (1). One key advantage of the proposed approach is that the static state feedback control law for the \(H_\infty\) almost disturbance decoupling can be constructively obtained. An example is presented to illustrate the proposed constructive \(H_\infty\) control design approach.
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