中文摘要：

针对轧机液压伺服系统随工况变化所引起的弹性刚度系数及外负载力跳变问题，在输入受限的情况下，提出了一种具有￡：增益的鲁棒抗饱和多模型切换控制策略。首先，建立了轧机液压伺服位置系统在不同工况下的多模型集；其次，应用共同Lyapunov函数及稳定性理论证明了输入受限切换系统具有如增益稳定性，并采用LMI方法设计了抗饱和状态反馈控制器。基于切换易实现原则，根据液压缸压力的变化作为各子控制器切换的依据。仿真及实验研究结果验证了本文所设计控制策略的有效性。

英文摘要：

Aiming at the jumping problems of the elastic stiffness coefficient and external load force caused by work- ing condition change of the rolling mill hydraulic servo system with input constrains, a robust anti-saturation multi- model switching control strategy with L2 gain is presented. Firstly, a multiple model set for the rolling mill hydraulic servo system is established under different working conditions. Secondly, common Lyapunov function and stability the- ory are applied to prove that the switching system with input constrains has L2 gain stability. Then the anti-saturation state feedback controller is designed using LMI approach. The changing of hydraulic cylinder pressure is taken as the switching control criteria of the sub-model controller based on the principle of easy to be realized switching. The sim- ulation and experiment study results demonstrate the validity of the designed control strategy.