Anotace:Řidici aplikace zaloene na vyuiti pocitaců, obzvlastě pokud běi v prostředi běných operacnich systemů, casto vykazuji nekonstantnost vzorkovaci periody zpracovani vstupů a výstupů. Ackoliv je tento jev obvykle zanedbavan, jsou-li vyuity diskretni algoritmy řizeni, v některých připadech můe způsobit výrazně horsi výkonnost řidici smycky. V clanku je navren modifikovaný algoritmus řizeni LQG, který bere v uvahu poruchy vzorkovaci periody. Je rovně ukazano, e takovýto řidici system můe být implementovan i na poměrně jednoduchých hardwarových platformach. Klicova slova: LQG regulator, stochasticke řizeni, hybridni systemy Summary: Computer-based control applications, especially if they run under general-purpose operating systems, often exhibit variance of the scan period of processing inputs and outputs. Although this phenomenon is usually neglected when discrete control algorithms are used, in some cases it can cause significantly worse performance of the control loop. In the paper a modified discrete LQG control algorithm that takes disturbances of the scan period into account is proposed. It is also shown that such a controller can be implemented even on relatively simple hardware platforms..
[1]
W. Fleming,et al.
Deterministic and Stochastic Optimal Control
,
1975
.
[2]
A. Laub,et al.
On the numerical solution of the discrete-time algebraic Riccati equation
,
1980
.
[3]
T. K. Nguyen.
Numerical solution of discrete-time algebraic Riccati equation
,
1999
.
[4]
R. Stengel.
Stochastic Optimal Control: Theory and Application
,
1986
.
[5]
D. Kleinman.
Stabilizing a discrete, constant, linear system with application to iterative methods for solving the Riccati equation
,
1974
.
[6]
Arthur E. Bryson,et al.
Applied Optimal Control
,
1969
.