212 results about "Linear matrix inequality" patented technology

The invention discloses an iterative learning control optimization method for a direct current motor with non-repetitive disturbance, and relates to the technical field of direct current motor control, and the method comprises the steps: lifting a nominal model of a nonlinear system to a high-dimensional linear space through a deep Koopman operator, and obtaining the description of a high-dimensional state space model of the nonlinear system; converting the state space model into a linear repetition process model, and obtaining a linear matrix inequality condition of system convergence in a high-dimensional space by using a two-dimensional iterative learning control method; further, the intelligent agent is trained in a high-dimensional state space model iterative learning control system with model mismatch and a non-repetitive uncertainty nonlinear system, and finally the intelligent agent is applied to an actual system. The control law gain obtained by the method can better adapt to an original nonlinear system, a deep reinforcement learning algorithm is designed to compensate non-repetitive disturbance, and zero-error tracking of expected output is basically achieved.

The present invention relates to a method for constructing a dual-sequence injected-current feasible region of a weakly interconnected VSC system under asymmetric faults. The method comprises the following steps: on the basis of boundary conditions of a weakly interconnected VSC system under asymmetric-fault types, forming a composite sequence network of the system; constructing a nonlinear reduced-order mathematical model of the weakly interconnected VSC system that is adapted for transient synchronization stability analysis; performing Taylor expansion on trigonometric functions in the constructed nonlinear mathematical model of the weakly interconnected VSC system, and using a linear matrix inequality optimization method to construct the largest estimated domain of attraction of the system under asymmetric faults; forming an injected-current set; constructing a corresponding largest estimated domain of attraction for each injected current in the current set; screening out from the injected-current set all injected currents capable of ensuring the transient synchronization stability of the system, thereby forming a dual-sequence injected-current feasible region of the weakly interconnected VSC system; and formulating positive-sequence and negative-sequence injected-current control strategies of a VSC under the asymmetric faults.

The invention belongs to the field of flight control, and particularly relates to a tilt-rotor aircraft transition state undisturbed switching control method based on linear active disturbance rejection. Longitudinal dynamics of the tilt rotorcraft is modeled into a switching system, a nacelle inclination angle is combined to serve as a switching signal, a switching active-disturbance-rejection controller is designed, internal / external disturbance of the system is estimated in real time and compensated, and multi-channel decoupling is achieved; and a variable gain continuous switching controller is further introduced, and a time interval is set and adjusted after a switching moment, so that jolt at the switching moment is inhibited, and the influence of controller switching on the working process of the conversion process of the flight mode of the tilt-rotor aircraft is effectively reduced. Based on a dynamic error system and a multi-Lyapunov function, in combination with an average residence time constraint, a linear matrix inequality condition for ensuring the asymptotic stability of the system is deduced, and a simulation experiment of the transition state of the tilt-rotor aircraft is carried out.

The invention discloses a data-driven event trigger control method for a linear variable-parameter nonlinear system, which comprises the following steps: for a discrete-time nonlinear system with an unknown model, expressing the nonlinear system as a parameter-dependent linear form by using a linear variable-parameter embedding method; constructing a convex polyhedron-based noise matrix set for unknown bounded noise in the measurement data, and proposing polyhedral data-driven LPV system representation by using offline collected state, input and scheduling variable data; designing a bounded dynamic event trigger transmission mechanism, and optimizing the use of communication resources by adjusting a trigger threshold in real time and setting the upper and lower bounds of a transmission interval; based on a discrete time cycle functional analysis method, controller gain and trigger parameters are jointly designed through a linear matrix inequality tool. The method does not depend on an accurate system model, stable control over a nonlinear system is achieved only through historical data, the communication frequency is remarkably reduced, and meanwhile the system performance and robustness are guaranteed.

The invention discloses a wide and thick plate hot working burner period intermittent control method considering input saturation. The method comprises the steps that burner heat supply controllable areas are divided according to burner distribution positions in the length direction of a wide and thick plate; on the basis of the operation time sequence of the wide and thick plate in the furnace, a burner heat supply controllable area distribution parameter model is established according to the temperature sensor distribution position and temperature information. And designing a burner period intermittent control method considering input saturation. And on the basis of a Lyapunov functional and a linear matrix inequality theory, calculating and designing sufficient conditions for finite time stability of a burner heat supply controllable area distribution parameter system under the control method. Through the steps, the temperature control performance of the heating furnace can be improved, sufficient combustion of fuel in the furnace is achieved, and it is ensured that wide and thick plates are heated evenly and the target temperature reaches the standard.

The invention relates to an intelligent speed control method, device and equipment for an electric scooter and a storage medium. The method comprises the following steps: acquiring and filtering historical riding data of the electric scooter to obtain a time sequence characteristic matrix; constructing a multi-head time self-attention mechanism and a space cross attention mechanism to obtain a time feature vector and a space feature vector; inputting into a multi-feature fusion module for weighted fusion to obtain a fusion feature vector, and generating a target speed sequence through an intention heuristic control module; constructing a state observer to obtain a system state vector; solving and calculating an observer gain matrix through a linear matrix inequality, and constructing an outer loop speed controller and an inner loop current controller to obtain adaptive PID control parameters; and a PWM modulator is input to carry out motor control quantity calculation, a speed control execution instruction is obtained, and a motor driving signal is output. The implementation of the invention ensures the accuracy of motor control, and ensures the safe and reliable operation of the system under various working conditions.

The invention relates to a model reference adaptive control method of a nonlinear circuit containing approximate period time-varying parameters. The method comprises the following steps: establishing an approximate period segmentation steady system model of a nonlinear circuit; the method comprises the following steps: determining how many sub-intervals coexist in a controlled system model through a method of identifying an approximate period segmentation steady system switching moment of unknown parameters; establishing a stable reference model according to the number of the subintervals in combination with the stability condition of the proposed approximate period segmentation steady system; establishing a linear matrix inequality constraint condition, solving a Lyapunov matrix parameter based on a Lyapunov stability theory, and designing update rates of different control gains for each state quantity of a nonlinear circuit system so as to update a real-time control quantity; and finally converging the actual control gain to the nominal control gain, so that the state of the controlled system model with unknown parameters tracks the expected state track. According to the invention, control is carried out under the condition of interference input, and the practicability is higher.

The invention relates to an unmanned vehicle safety control method and system for resisting hidden false data injection attack. The method comprises the following steps: based on an unmanned vehicle information physical system, constructing a normal system which is not attacked and a system which is attacked by a hidden actuator, and constructing a difference system according to a state difference value of the two systems; solving the steady-state Kalman filtering gain of a normal system; constructing a linear matrix inequality condition for ensuring the stability of a normal system and the state of a differential system to be bounded based on the non-escapable set, and obtaining a controller gain meeting the condition; according to robust model predictive control, an augmentation vector and a prediction equation are constructed, a difference system bounded and stable minimum and maximum problem is given and converted into a linear matrix inequality to obtain an input signal of the difference system, and finally an input signal of an attacked system is obtained and applied to the attacked system, so that the difference system is bounded and stable, and the attacked system is more stable. And the system is stable and safe when being attacked. According to the invention, the state of the attacked system is stable and the system is safe.

The invention discloses a safety control method for a random mutation power system, which belongs to the technical field of power system control, and comprises the following steps: introducing a hidden Markov process with unknown partial information to solve the switching problem of a circuit breaker in the power system and the condition that the mode information of the power system is limited; the influence of hybrid network attack on the stability of the power system is considered; constructing a controller model to obtain a closed-loop system model of the system under the hybrid network attack; giving a linear matrix inequality condition that the system is random and stable under disturbance and meets the H infinity performance index sigma; proving that the inequality condition is effective by utilizing a Lyapunov function and a performance index function; solving a gain matrix of the controller; according to the gain matrix of the controller and given system parameters, safety control over the discrete time Markov jump power system with the mode detection information is achieved. According to the invention, based on the combination of controller control and H-infinity performance index control, security control of the system can be realized under hybrid network attacks.

The invention relates to the technical field of industrial robot control, and discloses a single-connecting-rod mechanical arm system fault-tolerant asynchronous control method based on double-variable decision, which comprises the following steps: establishing a semi-Markov jump system dynamic model for describing the operating characteristics of a single-connecting-rod mechanical arm; based on the dynamic model, designing a fault-tolerant asynchronous controller structure based on a double-variable decision and an experience-machine cooperative operation strategy; establishing sufficient conditions which enable the closed-loop system to be randomly stable and meet H infinity performance indexes; and the numerical value of the gain of the machine controller is obtained by solving the linear matrix inequality set, and a final control law is generated to conduct fault-tolerant asynchronous control on the single-connecting-rod mechanical arm. According to the fault-tolerant asynchronous control method for the mechanical arm, fault-tolerant asynchronous control of the mechanical arm is achieved through a double-variable decision and an experience-machine cooperation strategy in combination with modal transfer rate boundary processing, and the random stability and the H-infinity performance of the system are guaranteed under the modal mismatching and fault working conditions.

The invention discloses a single-connecting-rod mechanical arm system modeling and double-asynchronous event trigger control design method. According to the method, random fluctuation of effective load mass and rotational inertia of a single-connecting-rod mechanical arm system, system interference and bandwidth limitation and time delay phenomena in a signal transmission process are considered, a single-connecting-rod mechanical arm model is established by utilizing a Semi-Markov theory, and the double-asynchronous event trigger control problem of the single-connecting-rod mechanical arm system is solved; the method comprises the following specific steps that firstly, random changes of effective load mass and rotational inertia are considered, and a model reflecting state changes of a single-connecting-rod mechanical arm system is established based on the Semi-Markov theory; then, designing an event generator and a controller which are asynchronous with the system modal information; furthermore, a Lyapunov function depending on the system mode and the residence time in the mode is constructed, stability analysis is conducted on the closed-loop single-connecting-rod mechanical arm system by means of a probability density function, and finally the obtained system random stability condition and the controller existence condition are expressed through a set of linear matrix inequality LMI.

The invention discloses a dynamic self-triggering filtering method under incomplete semi-Markov kernel information, relates to the technical field of automatic control and signal processing, and aims to solve the problems that full acquisition of semi-Markov kernel information is difficult, communication burden is heavy and peak control is insufficient. A self-triggering mechanism containing a dynamic variable is designed to determine a data transmission moment by classifying a known / unknown set of semi-Markov information and utilizing known parameters and an unknown lower bound, a modal-dependent filter is constructed, and the mean square index stability and robust performance of a filtering error system are verified in combination with the Lyapunov theory and a linear matrix inequality technology. The problems that an existing method is high in conservative property and wastes resources are solved.

The invention provides a time mark event triggering reinforcement learning multi-agent consistency control method and system, and relates to the technical field of multi-agent cooperative control. Establishing a multi-agent system dynamics model comprising a leader and a plurality of followers on the time mark; based on the state information of the leader and the follower, constructing a tracking error and consistency error dynamic equation between the intelligent agents; a reinforcement learning controller based on a neural network is constructed, and an optimal control strategy and a performance index function are approached; an event triggering mechanism is designed, and the controller is triggered to update only when the local error of the intelligent agent exceeds a dynamic threshold value; by constructing a Lyapunov function on a time scale and solving a linear matrix inequality condition, bounded consistency of the system is ensured, and a Zeno phenomenon is eliminated. Unified modeling and distributed safety control of the time scale multi-agent system in the non-ideal environment are achieved, communication resources are saved, the convergence speed is increased, and the robustness and practicability of the system are enhanced.

The invention provides a fault-tolerant control method for a steer-by-wire system, which fully considers multiple uncertainties such as parameter perturbation, system disturbance and actuator fault of the steer-by-wire system and controller input limitation, and solves a guaranteed performance control law by defining a quadratic form performance index and constructing a linear matrix inequality. Therefore, more accurate and stable fault-tolerant tracking control of the steer-by-wire system is realized. Besides, in order to further improve the response speed of the system to a control instruction, a feed-forward control mechanism is combined, control output is adjusted through prejudgment of ideal input, and robust guaranteed performance-feed-forward cooperative fault-tolerant control is formed, so that the time required by the system to reach an expected state is effectively shortened on the basis of not sacrificing the steady-state performance, and the system performance is improved. And the steering tracking speed is improved.

The invention provides a preset time fuzzy control method for a reentrant manufacturing system under intermittent state feedback, and the method comprises the steps: constructing a nonlinear error dynamic model, and employing a fuzzy modeling technology to represent the system as a combination of a plurality of linear subsystems; introducing a time scaling function, and transforming the error state of the global fuzzy model by using the time scaling function to obtain an error scaling state; an event triggering mechanism is designed to realize intermittent state feedback so as to reduce the communication cost; based on the Lyapunov stability theory, a sufficient condition that the system is stable within preset time is deduced, and a controller gain is obtained by solving a linear matrix inequality of the sufficient condition, so that the system still has robustness under external interference. Agile response and low-communication-cost operation of the reentrant manufacturing system within the preset deadline are realized.

The invention relates to the technical field of multi-agent systems, in particular to a multi-agent system anti-network attack security cooperative control method, which comprises the following steps of: establishing a multi-agent system model which comprises the steps of describing the relation between agent nodes by using a directed graph and establishing an agent state space equation; a proper communication mode is selected, and a dynamic memory event triggering strategy is adopted to optimize communication resource allocation; the method comprises the following steps: constructing a partially unknown semi-Markov switching topology model by adopting a processing technology with Markov switching characteristics; selecting a controller adapted to the multi-agent system model and the security topology requirement, and designing a control protocol in a non-attack scene and an attack scene; and based on the controller, the semi-Markov switching topology model and the communication mode, a linear matrix inequality is obtained, the linear matrix inequality is solved, and anti-network attack security cooperative control of the multi-agent system is realized. According to the invention, high-reliability control of multi-agent cooperation in a complex network is realized.

The invention relates to the technical field of hydroelectric engineering, in particular to a T-S fuzzy robust control method for a hydroelectric generating set adjusting system based on a linear matrix inequality, which comprises the following steps: establishing a system nonlinear mathematical model considering modeling uncertainty and external interference under a rigid water attack condition, and converting the system nonlinear mathematical model into an affine nonlinear state space form; a T-S fuzzy model is constructed, and precise approximation of global nonlinear characteristics is realized through linearization of a linear triangular membership function and representative working condition points; a fuzzy controller is designed based on a parallel distribution compensation strategy, and a robust control problem is converted into a linear matrix inequality form to solve a feedback gain matrix in combination with a Lyapunov stability theory and an H-infinity performance index. The method effectively improves the adaptability of the system to a complex operation environment, enhances the anti-disturbance capability, can significantly reduce the system oscillation, shortens the stabilization time, guarantees the safe and reliable operation of the hydroelectric generating set, and has important engineering application value.

The invention discloses an underwater robot formation control method based on dynamic coding and decoding. The method comprises the following steps: S100, constructing a multi-underwater robot system based on a leader robot and follower robot architecture; s200, bit rate allocation is carried out based on a hybrid IVYA-FA optimization algorithm; s300, a coding and decoding strategy based on error information dynamic quantization; s400, according to a finite time domain formation control strategy, a finite time domain formation controller of the follower underwater robot is designed in combination with the bit rate distribution mechanism in the step S200 and the dynamic coding and decoding strategy in the step S300, and the gain of the finite time domain formation controller is obtained by solving a proposed linear matrix inequality condition through an LMI toolbox; and S500, realizing formation control of the multi-underwater robot system. Compared with the prior art, the method has the advantages that the optimal utilization of limited channel resources by the robot can be effectively improved, the saturation error problem caused by the quantitative saturation phenomenon is reduced, and the stability and robustness of the system are improved.

The invention discloses a large signal stability analysis method for a complex micro-grid. The method comprises the following specific steps: establishing a nonlinear state space model of each component of the micro-grid, forming a system-level nonlinear model of the alternating current micro-grid by using the model of each component, performing piecewise linearization on the original nonlinear model by using a Takagi-Sugeno (TS) multiple modeling method, and constructing a linear matrix inequality group. Secondly, solving a linear matrix inequality group, constructing an energy function of the micro-grid, and mapping the energy function to a two-dimensional plane to obtain an analytic expression of an attraction domain; and finally, the influence mechanism of the system parameters on the stability of the large signal is obtained by adjusting the system parameters and solving the attraction domain under each working condition. The method can be used for analyzing the stability of the actual complex micro-grid, and theoretical guidance is provided for planning and parameter design of the micro-grid.

The invention discloses an industrial robot motion pose error calibration method based on constraint solution. The industrial robot motion pose error calibration method comprises the steps that S1, joint angles, tail end coordinates and temperature data of multiple measurement points are collected; s2, correcting the kinematic model by using the thermal elongation and constructing a parameter identification model; s3, constructing a mixed integer nonlinear constraint pool according to mechanical limitation; s4, introducing a semi-definite programming slack variable to convert the non-convex constraint into a linear matrix inequality; s5, combining a primal-dual interior point method and an alternating direction multiplier method to iteratively solve the optimal kinematics parameter correction; s6, introducing a square root information filtering improvement mechanism to correct a state vector square root factor, and calculating an updated nominal kinematics parameter; and S7, based on the condition number of the error Jacobian matrix, judging observability and repeatedly calibrating. According to the method, the problem of precision reduction caused by thermal errors is solved, and the identification precision, the numerical stability and the self-adaptive calibration capability of the kinematics parameters of the robot are improved.

The invention discloses an anti-interference fuzzy prediction control method based on a linear matrix inequality. The method comprises the following steps: 1) establishing a system state equation of a cleaning robot with noise; 2) designing a fuzzy controller according to a T-S fuzzy method; 3) converting an anti-interference fuzzy prediction control problem into a solution minimization problem; and 4) solving a minimization problem based on a linear matrix inequality method. According to the invention, the model is reasonable and has certain robustness in switching control of various states; according to the method, the cleaning robot can adapt to various different working states, the system is kept stable, meanwhile, the robustness of the system can be kept under the condition that noise disturbance exists, and the working efficiency of the cleaning robot is improved.

The invention discloses a networked vehicle queue safe cruise method for coping with hybrid network attacks, the vehicle queue comprises a head vehicle and a following vehicle, the following vehicle collects the running state data of the vehicle, obtains the running state data of other vehicles through a communication network, continuously detects the state of the communication network, and sends the detected state to the vehicle queue. Detecting whether a network attack is currently suffered or not and the type of the suffered attack, and calculating the minimum characteristic value of the topological matrix in a normal communication state, a spoofing attack state or a replay attack state according to the identified attack type; and then solving the constructed linear matrix inequality which enables the vehicle closed-loop system to be stable to obtain a feedback gain, and generating a control input signal according to the feedback gain obtained by calculation to realize accurate control of the vehicle. The feedback gain is dynamically adjusted according to the real-time state of the vehicle, so that the safety cruise control of the vehicle queue system is more effectively realized.

The present invention relates to the technical field of spacecraft fault diagnosis, and specifically discloses a neural adaptive sliding mode observer design method for satellite attitude control system fault estimation, including taking into account concurrent actuator, sensor faults and constraints, performing equivalent transformation on the attitude control system; establishing a continuous time constrained equivalent uncertainty description system; adding a fuzzification layer and a fuzzy reasoning layer to a hyperbasis function neural network to obtain an expression for uncertainty obtained by the fuzzy hyperbasis function neural network; designing a neural adaptive sliding mode observer based on an improved fuzzy hyperbasis function neural network, solving the observer gain matrix using linear matrix inequalities, and achieving better concurrent fault estimation based on better uncertainty estimation. The present invention adopts the above-mentioned neural adaptive sliding mode observer design method for satellite attitude control system fault estimation, solves the concurrent fault estimation problem of the satellite attitude control system under complex constraints, and improves the accuracy of fault estimation.

The application relates to a sequence-dependent plug-in island direct-current micro-grid distributed control method and system, first, local electrical parameters and interconnection line parameters of each DGU are acquired, an island direct-current micro-grid state space model is established, and a distributed controller model is constructed based on local state variables of the DGU; second, aiming at the access or cut-off request of the target DGU, the cut-off request is equivalently converted into the access request in the sequence-dependent plug-in scene, a to-be-judged insertion sequence or a candidate insertion sub-sequence is generated; finally, a linear matrix inequality constraint is constructed according to a Lyapunov asymptotic stability condition, controller parameters meeting the stability requirement are solved, and pre-stability judgment and parameter optimization of the plug-in operation are realized. The application can effectively guarantee the asymptotic stability of the island direct-current micro-grid in the dynamic plug-in scene, and improve the plug-and-play capability of the system.

The invention discloses an island micro-grid load frequency stability control method considering communication time lag and a virtual inertia link, and the method comprises the steps: firstly building an island micro-grid load frequency control model containing the virtual inertia link, then constructing a Lyapunov functional on the basis, carrying out the derivation of the constructed functional, and carrying out the calculation of the load frequency stability of the island micro-grid. Derivative integral terms are defined by means of a generalized free-weight integral inequality, then a time-delay correlation stability criterion based on a linear matrix inequality is obtained, then the linear matrix inequality under different PI parameter conditions is solved, a maximum allowable time-delay upper limit (MDSM) for ensuring system stability is obtained, the time-delay upper limit is improved, system conservative property is reduced, and the stability of the system is improved. On the basis of the prior art, the robustness of the system is further improved, and the system has a larger stable operation area.

This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.

This invention belongs to the field of information security technology, specifically relating to a robust FDI attack detection method for ship navigation systems. The invention constructs a linear discrete-time system model and designs an attack detector based on this model. The detector parameters are optimized using the linear matrix inequality method, and an adaptive detection threshold mechanism based on historical mean and standard deviation is designed. This mechanism can dynamically sense changes in system state, making the dynamic attack detection system asymptotically stable and meeting performance indicators.

The invention discloses a crisscross optimization robust model predictive control method for an automatic sweeping robot. The crisscross optimization robust model predictive control method is adaptive to a trajectory tracking system with parameter uncertainty. According to the method, a discrete time controlled system with parameter uncertainty, a reference trajectory system and a tracking error system are constructed, performance evaluation indexes are defined, the stable control gain range of a basic RMPC controller is determined by solving a minimum and maximum optimization problem and linear matrix inequality constraints, and a multi-objective optimization function is combined in the range to achieve the stable control of the RMPC controller. The optimal additional control gain is iteratively searched by means of a crisscross algorithm, an optimized controller is formed, the stability and the dynamic performance are considered, the influence caused by parameter uncertainty can be overcome, the rising time and the adjusting time of trajectory tracking are remarkably shortened, the tracking error and the energy consumption are reduced, and the tracking efficiency is improved. And the dual requirements of the automatic sweeping robot on real-time response and control precision are met.

A control method for a networked servo system based on A3C and event triggering belongs to the technical field of networked motor control. It includes the following steps: 1. Establishing a system model of a networked servo control system; 2. Designing an event triggering strategy considering discrete systems; 3. Designing a control scheme for a networked servo system based on event triggering; 4. Designing a controller; 5. Designing a reinforcement learning A3C scheme. The present invention provides a mathematical model of a networked servo system, and uses an analysis method of a time-delay system to propose a closed-loop time-delay system with an event triggering mechanism and state feedback control; derives a design method for a controller; designs an event-triggered state feedback control algorithm, and uses a linear matrix inequality toolbox to obtain controller parameters; finally, through the optimization of the A3C scheme, a dynamic threshold state feedback control algorithm based on A3C and event triggering is designed; a dynamic event triggering strategy that can autonomously adjust trigger parameters.

The invention belongs to the technical field of micro-grid frequency control, and particularly discloses a time-delay-dependent low-inertia micro-grid frequency control system robust control method, which comprises the following steps: establishing a micro-grid frequency control system model considering time-varying and time-delay influence; constructing a linear matrix inequality condition for ensuring system stability and robust performance, wherein a freestyle matrix is introduced to process a controller gain design dependent on time delay; solving a linear matrix inequality to obtain a secondary frequency controller gain and a virtual inertia controller gain; and applying the secondary frequency controller gain and the virtual inertia controller gain to the micro-grid frequency control system so as to coordinate and control secondary frequency control and virtual inertia control, thereby maintaining the frequency stability of the micro-grid. The robust frequency control method of the time-delay dependent micro-grid is designed under the condition that the overall system coordination, the time-varying and time-delay influence and the coordination of secondary frequency control and virtual inertia control requirements are considered, so that the frequency stability of the micro-grid is maintained.