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中文摘要：
研究非线性离散系统的最优跟踪控制问题.通过在由最优控制问题所导致的非线性两点边值问题中引入灵敏度参数,并对它进行Maclaurin级数展开,将原最优跟踪控制问题转化为一族非齐次线性两点边值问题.得到的最优跟踪控制由解析的前馈反馈项和级数形式的补偿项组成.解析的前馈反馈项可以由求解一个Riccati差分方程和一个矩阵差分方程得到.级数补偿项可以由一个求解伴随向量的迭代算法近似求得.以连续槽式反应器为例进行仿真验证了该方法的有效性.
英文摘要：
The optimal output tracking control（OOTC） problem is considered for discrete-time nonlinear systems. By introducing a sensitivity parameter in the nonlinear two-point boundary value（TPBV） problem which is obtained from the optimal control problems and expanding Maclaurin series around it, the original nonlinear OOTC problem is transformed into a series of nonhomogeneous linear TPBV problems. The OOTC law consists of analytic feedback and feedforward terms and a compensation term in an infinite series form. The analytic terms can be obtained by solving a Riccati difference equation and a matrix difference equation. The series compensation term can be approximately obtained by an iterative algorithm of adjoint vector equations. A simulation example from continuously stirred tank reactor（CSTR） is employed to test the validity of the presented algorithm.
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