中文摘要：

研究闭环条件下非线性系统对象存在时。非线性控制器和线性控制器的数据驱动辨识问题。为避免对非线性系统的建模，对于非线性控制器的设计，将其转化为非线性函数在某基函数展开下的辨识；对于线性控制器的设计，引进虚拟参考反馈校正思想。采用递推最小二乘辩识法来辨识线性控制器参数。在闭环系统结构中，增加关于非线性系统的利普希茨连续性假设，定义非线性系统的有限增益稳定性；推导需保证非线性系统对象的输出为有限增益时，某特定利普希茨常数应满足的不等式条件；给出跟踪误差的上界值。最后利用某仿真算例来验证方法的有效性。

英文摘要：

In closed loop structure, the problems of direct data driven identification about nonlinear controller and linear problem of controller are studied when one nonlinear plant exists. Without identifying the nonlinear plant, the designing the nonlinear controller is changed to the nonlinear system identification under one basis function expansion. For devising the closed loop linear conroller, this paper introduces the virtual feedback tun- ing idea to identify the parameters of linear controller by using recursive least squares method. In closed loop structure, one Lipschitz continuous assumption of the nonliear system is added and one finite gain stability no- tion is defined. Then some inequalities about Lipschitz constants are derived to guarantee that the nonliear sys- tem＇s output is finite gain stable. Finally, it verifies the efficiency of the proposed strategy by the simulation ex- ample results.