公开(公告)号：US20200065693A1

公开(公告)日：2020-02-27

申请号：US16191967

申请日：2018-11-15

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Zhijun YANG ,  Youdun BAI ,  Yaobin HE ,  Xin CHEN

IPC: G06N7/00 ,  G06F17/13

Abstract: A control method for converting time-varying system into a time-invariant system, comprises: using (n−1)th to 0th order signals of an nth-order time-varying, system as feedback to set up a closed loop control for the time-varying system; acquiring real-time values of the coefficients in each order of the time-varying system through a sensor, and calculating variations between the real-time values and the initial values of the coefficients in each order through a controller; amplifying and summing the parameters of every order to obtain a measured disturbance; inputting the measured disturbance, a control signal from a controller and an nth-order signal into an extended state observer through to estimate the rest disturbance; summing up the measured and estimated disturbances to obtain total disturbances; and adjusting the above parameters in each order through the controller to convert the time-varying system into the tune-invariant system.