Discrete-time design of state-derivative feedback control laws

Rossi, Fernanda Quelho; Teixeira, Marcelo Carvalho Minhoto; Galvão, Roberto Kawakami Harrop; Assunção, Edvaldo

doi:10.1109/systol.2013.6693857

Cited by 3 publications

(2 citation statements)

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“…The superscript + in (2) is employed to indicate that the control is updated immediately after the state derivative is measured at each sampling time, as in Rossi et al (2013). The use of this notation is illustrated in Figure 1.…”

Section: Preliminaries and Notationmentioning

confidence: 99%

“…It is worth noting that most research efforts have been devoted to the design of continuous time controllers. To the authors' knowledge, the discrete time design of state derivative feedback controllers was only considered in Cardim, Teixeira, Faria, and Assunção (2009) and Rossi, Teixeira, Galvão, and Assunção (2013). The approach adopted in these two works consisted of first designing a digital state feedback controller by conventional means and then obtaining an equivalent digital state derivative feedback control law.…”

Section: Introductionmentioning

confidence: 99%

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Direct discrete time design of robust state derivative feedback control laws

Rossi

Galvão

Teixeira

et al. 2016

International Journal of Control

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This paper is concerned with the problem of designing robust state derivative feedback control laws in discrete time. The main contribution consists of a method for recasting a continuous time state space model in the form of a discrete time model formulated in terms of the state derivative. Uncertain input delays and parametric uncertainties in polytopic form can be propagated from the original state space representation to the resulting state derivative model. Therefore, robust control techniques originally developed for discrete time state space models can be directly employed to design the state derivative feedback law. Three computational examples are presented for illustration. The first example highlights the importance of accounting for the effect of sampling in the design procedure. More specifically, a linear quadratic regulation problem involving the state derivative is addressed. The second example involves the design of a robust predictive controller in the presence of input constraints and uncertain time delay. Finally, the third example is concerned with robust pole placement in the presence of parametric uncertainty.

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Section: Preliminaries and Notationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%