In this article, the observer-based robust preview tracking control problem is revisited for discrete-time Lipschitz nonlinear systems. The proposed observer-based preview control scheme is composed of the integral control action, the observer-based state feedback control action, and the preview feedforward action of the reference signal. Sufficient design condition of controller and observer gains, which are able to ensure the simultaneously convergence of both the estimation error and the tracking error toward zero, is established in terms of linear matrix inequality by applying the Lyapunov function approach and several mathematical techniques. Compared with the existing result, the system model is more general, which could describe a larger range of practical processes. The observer-based preview controller design is simplified by computing the gain matrices of both observer and tracking controller simultaneously by only one-step linear matrix inequality procedure. Robustness against external disturbance is analyzed via the H_∞ performance criterion to attenuate its effect on the performance signal. Finally, two numerical examples are provided to demonstrate the effectiveness of the suggested controller.

在本文中，针对离散时间Lipschitz非线性系统，重新讨论了基于观察者的鲁棒预览跟踪控制问题。所提出的基于观察者的预览控制方案由积分控制动作，基于观察者的状态反馈控制动作和参考信号的预览前馈动作组成。通过使用Lyapunov函数方法和几种数学技术，在线性矩阵不等式的基础上建立了控制器和观察者增益的充分设计条件，该条件能够确保估计误差和跟踪误差同时收敛至零。与现有结果相比，系统模型更为通用，可以描述更大范围的实际过程。通过仅一步线性矩阵不等式过程即可同时计算观察者和跟踪控制器的增益矩阵，从而简化了基于观察者的预览控制器设计。抵抗外部干扰的鲁棒性通过^ h _∞的性能标准，以削弱其对性能的信号作用。最后，提供了两个数值示例来说明所建议控制器的有效性。