Two-dimensional switching continuous discrete system H-infinity control method based on state dependence

Abstract

The invention discloses a two-dimensional switching continuous discrete system H-infinity control method based on state dependence. The method comprises the following steps: acquiring a two-dimensional switching continuous discrete system model; constructing a state dependence switching law which only depends on continuous variables, and obtaining stability conditions of the two-dimensional switching continuous discrete system; applying the stability condition of the two-dimensional switching continuous discrete system to a switching repetition process, and determining an along-channel stability condition of the two-dimensional switching continuous discrete system; and designing a state feedback control law, and considering H-infinity control in a switching repetition process, so that the two-dimensional switching continuous discrete system has expected H-infinity performance. According to the method, the stability of the two-dimensional switching continuous discrete system is analyzed only by depending on a state dependence switching law of continuous variables, a stability condition is obtained by utilizing a Lyapunov function method, a stability result is applied to a switching repetition process, and H-infinity control of the switching repetition process is realized by establishing a new state dependence switching law.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi - dimensional systems and control, and particularly relates to an H∞ control method for a two - dimensional switched continuous - discrete system based on state - dependence. Background Art

[0002] The stability analysis and control of two - dimensional switched continuous - discrete systems face complex technical challenges. Such systems contain state components in both horizontal and vertical dimensions, and there is state - dependent switching behavior, making the dynamic characteristics of the system extremely complex.

[0003] Traditional single - dimension system analysis methods are difficult to apply directly, and existing multi - dimensional system theories cannot effectively handle switching behavior. How to accurately describe the impact of state - dependent switching on system stability while considering the two - dimensional characteristics of the system has become a key problem to be solved urgently. In addition, for the special two - dimensional system of switching repetitive processes, how to design an effective control strategy to ensure the H∞ performance and stability along the channels of the closed - loop system is also a challenging problem.

[0004] Solving these problems not only requires the development of new theoretical analysis tools but also needs to consider various constraint conditions in practical applications. How to find a balance between theoretical analysis and engineering practice and construct a systematic and effective method for the stability analysis and control of two - dimensional switched systems is a major technical problem faced by the research in this field. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related technologies to some extent.

[0006] An object of the present invention is to provide an H∞ control method for a two - dimensional switched continuous - discrete system based on state - dependence, which analyzes the stability of the two - dimensional switched continuous - discrete system only relying on the state - dependent switching law of continuous variables, obtains the stability conditions by using the Lyapunov function method, applies the stability results to the switching repetitive process, and realizes the H∞ control of the switching repetitive process by establishing a new state - dependent switching law.

[0007] To achieve the above object, on the one hand, the present invention provides an H∞ control method for a two - dimensional switched continuous - discrete system based on state - dependence, including:

[0008] S1. Obtain the model of the two - dimensional switched continuous - discrete system;

[0009] S2. Construct a state - dependent switching law that only depends on continuous variables, and generalize it to the two - dimensional switched continuous - discrete system according to the stability conditions of the two - dimensional continuous - discrete system to obtain the stability conditions of the two - dimensional switched continuous - discrete system;

[0010] S3. Apply the stability condition of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability condition along the channels of the two-dimensional switched continuous-discrete system;

[0011] S4. Design a state feedback control law, considering the H∞ control of the switched repetitive process, to enable the two-dimensional switched continuous-discrete system to have the desired H∞ performance.

[0012] A further preferred technical solution of the present invention is that in step S1, obtaining the two-dimensional switched continuous-discrete system model includes:

[0013] Determine the horizontal state component and the vertical state component of the system;

[0014] Obtain a switching signal to represent the activated subsystem with the switching signal;

[0015] According to the horizontal state component, the vertical state component, and the switching signal, construct a two-dimensional switched continuous-discrete system model including multiple subsystems, where the subsystems are represented by appropriate-dimensional real block matrices; the two-dimensional switched continuous-discrete system model is expressed as:

[0016] ;

[0017] where is the horizontal component, , is the vertical component, is the control input, represents the channel length, is the number of channels; is the horizontal component of the first derivative; is the system matrix, is the input matrix; represents the switching signal, L is the number of subsystems, when represents the th subsystem is activated, at this time , , the matrix is an appropriate-dimensional real block matrix, is an appropriate-dimensional matrix; denote .

[0018] Preferably, the state-dependent switching law designed in step S2 is , where ;

[0019] Select a Lyapunov function, expressed as:

[0020] ;

[0021] where , is the dimension - suitable matrix;

[0022] The sufficient conditions for the asymptotic stability of a two - dimensional switched continuous - discrete system are as follows:

[0023] (1) The boundary conditions of the system are smooth and bounded;

[0024] (2) and for all are Hurwitz stable;

[0025] (3) If there exist positive - definite symmetric matrices and , and a Metzler matrix , such that the system satisfies under the switching law

[0026] :

[0027] ;

[0028] where the Metzler matrix has non - negative non - diagonal elements and satisfies the constraint ;

[0029] After calculation, under the above conditions , that is, the system is asymptotically stable.

[0030] Preferably, step S3 includes:

[0031] Regarding the switching repetition process as a special switched 2 - D continuous - discrete system, consider the following switching repetition process:

[0032] ;

[0033] where is the channel length, is the number of channels, is the state variable, is the channel cross - section vector, is the input variable, is the desired output variable, is the bounded external disturbance; , , , , , , , , and are all dimension - suitable matrices. When represents the The subsystem is activated, at this time , , , , , , , , , ;

[0034] When the external disturbance , the sufficient condition for the switching repetitive process to be stable along the channel under the state-dependent switching law is:

[0035] There exist positive definite symmetric matrices and , and a Metzler matrix , such that the system satisfies the inequality:

[0036] ;

[0037] where .

[0038] Preferably, step S4 specifically includes:

[0039] For the switching repetitive process, design a state feedback controller:

[0040] ;

[0041] where is the controller gain;

[0042] Substitute into the switching repetitive process to obtain the closed-loop system equation:

[0043] ;

[0044] where, is the closed-loop system matrix, ; is the closed-loop system input matrix, ; is the closed-loop system output matrix, ; is the closed-loop system transfer matrix, ; is the desired output matrix, ; is the desired transfer matrix, ;

[0045] Design that the closed-loop system is stable along the channel under the given H∞ performance index γ, if the closed-loop system satisfies the condition:

[0046] (1)When the external disturbance occurs, the system is stable along the channel;

[0047] (2)Under the 0 boundary condition, it satisfies ;

[0048] where , ;

[0049] Design the state-dependent switching law and calculate the value of the state feedback controller ;

[0050] For a given H∞ performance index γ, if there exist positive definite symmetric matrices and , and a Metzler matrix Π such that the system satisfies the inequality:

[0051] ;

[0052] Then the system is stable along the channel under the switching law and satisfies the given H∞ performance index γ;

[0053] where , , , , , is the identity matrix;

[0054] And give the following performance index function:

[0055] ;

[0056] ;

[0057] where ;

[0058] When the external disturbance occurs, it is determined by step S3 that the switched repetitive process is stable along the channel; from the switching law we can get , then

[0059]

[0060] Under the 0 initial condition, , from the positive definiteness of the matrices and we can get and , then , that is, the closed-loop system is stable along the channel and meets the given H∞ performance index ;

[0061] According to , through matrix operations, we get

[0062] ;

[0063] where , , , ;

[0064] , , , ; 、 are all matrices of appropriate dimensions;

[0065] According to the LMI calculation method, the state feedback controller is obtained.

[0066] On the other hand, the present invention provides a non-transitory computer-readable storage medium, on which computer instructions are stored, and the computer instructions cause the computer to execute the above-mentioned state-dependent two-dimensional switched continuous-discrete system H∞ control method.

[0067] On another aspect, the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus, and the processor calls the logical instructions in the memory to execute the above-mentioned state-dependent two-dimensional switched continuous-discrete system H∞ control method.

[0068] On yet another aspect, the present invention provides a computer program product, the computer program product includes a computer program, the computer program is stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer executes the above-mentioned state-dependent two-dimensional switched continuous-discrete system H∞ control method.

[0069] Beneficial effects: The state-dependent two-dimensional switched continuous-discrete system H∞ control method of the present invention first establishes a 2-D switched system model including horizontal and vertical state components, and constructs a state switching law dependent on continuous variables. Then, the sufficient conditions for the asymptotic stability of the system are derived by using the Lyapunov function method and applied to the switched repetitive process. For the switched repetitive process, the present invention designs a state feedback control law, constructs a closed-loop system and analyzes its H∞ performance and stability along the channels. The linear matrix inequality method is used to calculate the controller gain to achieve effective control of the system. Through simulation verification, the present invention can ensure the stability of the 2-D switched system under state-dependent switching and has good H∞ disturbance rejection performance, providing a new theoretical method for the analysis and control of complex switched systems. Description of the Drawings

[0070] Figure 1 is the flowchart of the state-dependent two-dimensional switched continuous-discrete system H∞ control method of the present invention;

[0071] Figure 2 is the schematic diagram of the metal rolling process in the verification example of the present invention;

[0072] Figure 3 is the change process of the system state variables in the example;

[0073] Figure 4 is the designed switching law in the example. Detailed Embodiments

[0074] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention, and they should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In the description of the present invention, it should be understood that the terms used are only for the purpose of description and cannot be construed as indicating or implying relative importance.

[0075] The following will be combined with Figures 1 - 4 to describe the state-dependent two-dimensional switched continuous-discrete system H∞ control method provided by the present invention.

[0076] Embodiment 1: This embodiment provides a state-dependent two-dimensional switched continuous-discrete system H∞ control method, as Figure 1 shown, including:

[0077] S1. Obtain a two-dimensional switched continuous-discrete system model, which includes horizontal state components and vertical state components, as well as a switching signal dependent on the continuous variable t, and determine the number of subsystems and the corresponding real block matrices. Specifically, it includes:

[0078] Determine the horizontal state components and vertical state components of the system;

[0079] Obtain the switching signal to represent the activated subsystems;

[0080] According to the horizontal state components, the vertical state components, and the switching signal, construct a two-dimensional switched continuous-discrete system model including multiple subsystems, where the subsystems are represented by appropriate-dimensional real block matrices; the two-dimensional switched continuous-discrete system model is expressed as:

[0081] ;

[0082] where is the horizontal component, , is the vertical component, is the control input, represents the channel length, is the number of channels; is the first derivative of the horizontal component ; is the system matrix, is the input matrix; represents the switching signal, L is the number of subsystems, when represents that the -th subsystem is activated, at this time , , the matrix is an appropriate-dimensional real block matrix, is an appropriate-dimensional matrix; denote .

[0083] S2. Construct a state-dependent switching law that only depends on the continuous variable, and according to the stability conditions of the two-dimensional continuous-discrete system, generalize it to the two-dimensional switched continuous-discrete system to obtain the stability conditions of the two-dimensional switched continuous-discrete system. Specifically, it includes:

[0084] First, in the case of no switching, according to the existing conclusions, the sufficient conditions for the asymptotic stability of the 2-D continuous-discrete system can be obtained as:

[0085] (1) The boundary conditions of the system are smooth and bounded;

[0086] (2) and are Hurwitz stable;

[0087] (3) If there exists a positive definite symmetric matrix and such that the following are satisfied:

[0088] ;

[0089] where is the system matrix without switching cases.

[0090] For a two-dimensional switched continuous-discrete system, the designed state-dependent switching law is where ;

[0091] Choose a Lyapunov function, expressed as:

[0092] ;

[0093] where , is a matrix of appropriate dimension;

[0094] The sufficient conditions for the asymptotic stability of the two-dimensional switched continuous-discrete system are:

[0095] (1) The boundary conditions of the system are smooth and bounded;

[0096] (2) and are Hurwitz stable for all ;

[0097] (3) If there exist a positive definite symmetric matrix and , and a Metzler matrix such that the system satisfies the following under the switching law

[0098] :

[0099] ;

[0100] where the Metzler matrix has non-negative non-diagonal elements and satisfies the constraint ;

[0101] After calculation, under the above conditions , that is, the system is asymptotically stable.

[0102] S3. Apply the stability conditions of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability conditions along the channels of the two-dimensional switched continuous-discrete system. Specifically, it includes:

[0103] Regard the switched repetitive process as a special switched 2-D continuous-discrete system and consider the following switched repetitive process:

[0104] ;

[0105] where is the channel length, is the number of channels, is the state variable, is the channel cross-section vector, is the input variable, is the desired output variable, is the bounded external disturbance; , , , , , , , , and are all conformable matrices. When represents that the th subsystem is activated, at this time , , , , , , , , , ;

[0106] For a switched linear repetitive process, there are two stability concepts: asymptotic stability and stability along the channels. The condition for asymptotic stability is that the spectral radius of the matrix is less than 1. At this time, the state performance of the system along the channels cannot be guaranteed. Therefore, it is necessary to further give the stability along the channels to describe the system performance. According to the existing conclusions, the condition for the linear repetitive process to be stable along the channels is: (1) the spectral radius of the matrix is less than 1, (2) the eigenvalues of the matrix all have negative real parts, (3) , where . These conditions are equivalent to the conditions for the asymptotic stability of 2-D continuous-discrete systems. Therefore, the stability conditions in step S2 can be directly applied:

[0107] When the external disturbance , a sufficient condition for the switched repetitive process to be stable along the channels under the state-dependent switching law is:

[0108] There exist positive definite symmetric matrices and , and a Metzler matrix , such that the system satisfies the inequality:

[0109] ;

[0110] Wherein .

[0111] S4. Design the state feedback control law, consider the H∞ control of the switched repetitive process, so that the two-dimensional switched continuous-discrete system has the expected H∞ performance. Specifically, it includes:

[0112] For the switched repetitive process, design the state feedback controller:

[0113] ;

[0114] Wherein is the controller gain;

[0115] Substitute it into the switched repetitive process to obtain the closed-loop system equation:

[0116] ;

[0117] Wherein, is the closed-loop system matrix, ; is the closed-loop system input matrix, ; is the closed-loop system output matrix, ; is the closed-loop system transfer matrix, ; is the desired output matrix, ; is the desired transfer matrix, ;

[0118] Design that the closed-loop system is stable along the channel under the given H∞ performance index γ if the closed-loop system satisfies the conditions:

[0119] (1) When the external disturbance the system is stable along the channel;

[0120] (2) Under the 0 boundary condition, satisfies ;

[0121] Wherein , ;

[0122] Design the state-dependent switching law , calculate the value of the state feedback controller ;

[0123] For the given H∞ performance index γ, if there exists a positive definite symmetric matrix and , and Metzler matrix Π, such that the system satisfies the inequality:

[0124] ;

[0125] Then the system is stable along the channel and satisfies the given H∞ performance index γ under the switching law ;

[0126] where , , , , , is the identity matrix;

[0127] And the following performance index function is given:

[0128] ;

[0129] ;

[0130] where ;

[0131] When the external disturbance , it is determined from step S3 that the switched repetitive process is stable along the channel; from the switching law we can get , then

[0132]

[0133] Under the 0 initial condition, , from the positive definiteness of matrices and we can get and , then , that is, the closed-loop system is stable along the channel and satisfies the given H∞ performance index ;

[0134] According to , through matrix operations we get

[0135] ;

[0136] where , , , ;

[0137] , , , ; , They are all proper dimension matrices;

[0138] A state feedback controller is obtained according to the LMI calculation method .

[0139] The method of this embodiment will be described below through a specific example of the metal rolling process.

[0140] Consider the Figure 2 metal rolling process shown below. Its differential equation can be expressed as:

[0141] ;

[0142] where is the external force, is the mass of the roll gap adjustment mechanism, is the displacement of under the external force, is the stiffness of the spring of the adjustment mechanism, is the hardness of the metal strip, .

[0143] By transformation, the closed-loop system equation of the switched repetitive process can be obtained:

[0144] ;

[0145] Select the following values: , , , , , , , , , ;

[0146] , , , , , , , , , .

[0147] Initial state:

[0148] ;

[0149] ;

[0150] Let , according to the conditions in step S4, from the LMI, it can be obtained that , and an optimal performance index can be obtained .

[0151] Figure 3 shows the change trend of the system state. It can be seen that under the action of the switching law, by designing the state feedback controller, the final state and both tend to 0, indicating that the system satisfies stability along the channels and meets the performance index. Figure 4 shows the switching situation of the system between two subsystems.

[0152] Embodiment 2: This embodiment provides a non-transitory computer-readable storage medium, on which computer instructions are stored. The computer instructions cause the computer to execute the H∞ control method for a state-dependent two-dimensional switched continuous-discrete system, and the method includes the following steps:

[0153] S1. Obtain a two-dimensional switched continuous-discrete system model;

[0154] S2. Construct a state-dependent switching law that depends only on continuous variables. According to the stability conditions of the two-dimensional continuous-discrete system, generalize it to the two-dimensional switched continuous-discrete system to obtain the stability conditions of the two-dimensional switched continuous-discrete system;

[0155] S3. Apply the stability conditions of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability conditions along the channels of the two-dimensional switched continuous-discrete system;

[0156] S4. Design a state feedback control law, consider the H∞ control of the switched repetitive process, and make the two-dimensional switched continuous-discrete system have the expected H∞ performance.

[0157] Embodiment 3: This embodiment provides an electronic device, which may include: a processor, a communications interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor can call the logic instructions in the memory to execute the H∞ control method for a state-dependent two-dimensional switched continuous-discrete system, and the method includes the following steps:

[0158] S1. Obtain a two-dimensional switched continuous-discrete system model;

[0159] S2. Construct a state-dependent switching law that depends only on continuous variables. According to the stability conditions of the two-dimensional continuous-discrete system, generalize it to the two-dimensional switched continuous-discrete system to obtain the stability conditions of the two-dimensional switched continuous-discrete system;

[0160] S3. Apply the stability condition of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability condition along the channels of the two-dimensional switched continuous-discrete system;

[0161] S4. Design a state feedback control law, considering the H∞ control of the switched repetitive process, to make the two-dimensional switched continuous-discrete system have the expected H∞ performance.

[0162] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0163] Embodiment 4: The present embodiment provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the H∞ control method for a state-dependent two-dimensional switched continuous-discrete system. The method includes the following steps:

[0164] S1. Obtain the model of the two-dimensional switched continuous-discrete system;

[0165] S2. Construct a state-dependent switching law that only depends on continuous variables. According to the stability condition of the two-dimensional continuous-discrete system, generalize it to the two-dimensional switched continuous-discrete system to obtain the stability condition of the two-dimensional switched continuous-discrete system;

[0166] S3. Apply the stability condition of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability condition along the channels of the two-dimensional switched continuous-discrete system;

[0167] S4. Design a state feedback control law, considering the H∞ control of the switched repetitive process, to make the two-dimensional switched continuous-discrete system have the expected H∞ performance.

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0169] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A state-dependent H∞ control method for two-dimensional switched continuous-discrete systems, characterized in that, Including: S1. Obtain a two-dimensional switched continuous-discrete system model; S2. Construct a state-dependent switching law that only depends on continuous variables, and according to the stability conditions of two-dimensional continuous-discrete systems, generalize it to two-dimensional switched continuous-discrete systems to obtain the stability conditions of two-dimensional switched continuous-discrete systems; S3. Apply the stability conditions of the two-dimensional switched continuous-discrete system to the switched repetitive process to determine the stability conditions along the channel of the two-dimensional switched continuous-discrete system; S4. Design a state feedback control law, considering the H∞ control of the switched repetitive process, so that the two-dimensional switched continuous-discrete system has the expected H∞ performance.

2. The H∞ control method for a state-dependent two-dimensional switched continuous-discrete system according to claim 1, characterized in that In step S1, obtaining the two-dimensional switched continuous-discrete system model includes: Determine the horizontal state component and the vertical state component of the system; Obtain a switching signal to represent the activated subsystem with the switching signal; According to the horizontal state component, the vertical state component and the switching signal, construct a two-dimensional switched continuous-discrete system model including multiple subsystems, where the subsystems are represented by appropriate-dimensional real block matrices; the two-dimensional switched continuous-discrete system model is expressed as: ； wherein is the horizontal component, , is the vertical component, is the control input, represents the channel length, is the number of channels; is the horizontal component of the first derivative; is the system matrix, is the input matrix; represents the switching signal, L is the number of subsystems, when represents the th subsystem is activated, at this time , , the matrix is a well - dimensioned real block matrix, is a well - dimensioned matrix; denote .

3. The H∞ control method for a state-dependent two-dimensional switched continuous-discrete system according to claim 2, characterized in that, The state-dependent switching law designed in step S2 is , where ; Select a Lyapunov function, expressed as: ； Among them , is the adaptability matrix; Determine the sufficient conditions for the asymptotic stability of the two-dimensional switched continuous-discrete system as: (1) The boundary conditions of the system are smooth and bounded; (2) and for all are Hurwitz stable; (3) If there exist a positive definite symmetric matrix and , and a Metzler matrix , such that the system under the switching law The following are satisfied: ； where the Metzler matrix has non-negative non-diagonal elements and satisfies the constraint ; After calculation under the above conditions , that is, the system is asymptotically stable.

4. The state - dependent two - dimensional switched continuous - discrete system H∞ control method according to claim 3, characterized in that, Step S3 includes: Regard the switched repetitive process as a special switched 2-D continuous-discrete system, and consider the following switched repetitive process: ； wherein is the channel length, is the number of channels, is the state variable, is the channel cross-section vector, is the input variable, is the desired output variable, is the bounded external disturbance; 、 、 、 、 、 、 、 、 and are all matrices of appropriate dimensions. When represents that the -th subsystem is activated, at this time , , , , , , , , , ; When there is an external disturbance , the sufficient condition for the switching repetitive process to be stable along the channel under the state-dependent switching law is as follows: There exists a positive definite symmetric matrix and , as well as a Metzler matrix , such that the system satisfies the inequality: ； Among them 。 5. The H∞ control method for a state-dependent two-dimensional switched continuous-discrete system according to claim 4, wherein Step S4 specifically includes: For the switched repetitive process, design a state feedback controller: ； wherein is the controller gain; Substitute it into the switched repetitive process to obtain the closed-loop system equation: ； Among them, is the closed-loop system matrix, ; is the closed-loop system input matrix, ; is the closed-loop system output matrix, ; is the closed-loop system transfer matrix, ; is the desired output matrix, ; is the desired transfer matrix, ; Design that the closed-loop system is stable along the channel under the given H∞ performance index γ if the closed-loop system satisfies the condition: When an external disturbance occurs, the system is stable along the channel; (2) Under the 0 boundary condition, meet ; Among them , ; Design state-dependent switching law , and calculate the value of the state feedback controller . For a given H∞ performance index γ, if there exist positive definite symmetric matrices and , and a Metzler matrix Π such that the system satisfies the inequality: ； Then the system is stable along the channel under the switching law and satisfies the given H∞ performance index γ; Among them , , , , , is the identity matrix; And give the following performance index function: ； ； Among them ; When there is an external disturbance the switching repetition process is determined by step S3 to be stable along the channel; from the switching law it can be obtained that then ； Under the 0 initial conditions, , from the positive definiteness of the matrices and , we can obtain and , then , that is, the closed-loop system is stable along the channel and satisfies the given H∞ performance index ; According to , through matrix operations, we get ； Among them , , , ; , , , ; 、 are both dimension-adaptive matrices; Obtain the state feedback controller according to the LMI calculation method .

6. A non-transitory computer-readable storage medium, characterized in that, Stored thereon are computer instructions that cause a computer to execute the state-dependent-based H∞ control method for two-dimensional switched continuous-discrete systems according to any one of claims 1-5.

7. An electronic device, characterized in that, Including: A processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus, and the processor calls the logical instructions in the memory to execute the state-dependent-based H∞ control method for two-dimensional switched continuous-discrete systems according to any one of claims 1-5.

8. A computer program product, characterized in that, The computer program product includes a computer program, the computer program is stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer executes the state-dependent-based H∞ control method for two-dimensional switched continuous-discrete systems according to any one of claims 1-5.

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