Minimizing Oscillations for Magnitude and Rate-Saturated Discrete-Time Systems by a $D_{R}$ Region Pole Placement

Lerch, Sabine; Dehnert, Robert; Rosik, Michelle; Tibken, Bernd

doi:10.1109/icsc57768.2022.9993891

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Cited by 3 publications

References 21 publications

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Design of Robust Output Feedback Controllers for Discrete-Time Systems with Polynomial Uncertainties

Dehnert,

Lerch,

Rosik

et al. 2023

2023 IEEE 11th International Conference on Systems and Control (ICSC)

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Design of Robust Output Feedback Controllers for Discrete-Time Systems with Polynomial Uncertainties

Dehnert,

Lerch,

Rosik

et al. 2023

2023 IEEE 11th International Conference on Systems and Control (ICSC)

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Joint Design of Disturbance Observer-Based Feedback Controllers for Discrete-Time Systems Subject to Actuator Faults

Dehnert,

Rosik,

Deisling

et al. 2024

2024 32nd Mediterranean Conference on Control and Automation (MED)

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Exponential State Enclosure Techniques for the Implementation of Validated Model Predictive Control

Fnadi,

Rauh

2024

Acta Cybern

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The design task of predictive controllers for uncertain systems is commonly formulated on the basis of their kinematic and/or dynamic models. These models are assumed to be expressed as initial value problems (IVPs) for finite-dimensional sets of nonlinear ordinary differential equations (ODEs). If constraints for the admissible state trajectories are formulated, bounds for these trajectories need to be computed by numerical procedures to obtain guaranteed enclosures of all possible states at each time step that contain the solution of the exact IVP-ODEs. Uncertainties in both the initial states and system parameters are considered in this paper by means of bounded interval variables. For this kind of system representation, we apply an exponential enclosure approach to determine guaranteed enclosures of all reachable states. This approach is embedded in a novel manner into the framework of a guaranteed nonlinear model predictive control (NMPC) to acquire optimal and safe control domains along a receding horizon. The NMPC problem is solved at each time step considering several constraints which are crucial for the system's safety and stability, namely, bounds on the state trajectories and the control signals. The capabilities of the combination of the exponential enclosure technique with the set-based NMPC strategy are illustrated through simulations using a nonlinear inverted pendulum.

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Minimizing Oscillations for Magnitude and Rate-Saturated Discrete-Time Systems by a $D_{R}$ Region Pole Placement

Cited by 3 publications

References 21 publications

Design of Robust Output Feedback Controllers for Discrete-Time Systems with Polynomial Uncertainties

Design of Robust Output Feedback Controllers for Discrete-Time Systems with Polynomial Uncertainties

Joint Design of Disturbance Observer-Based Feedback Controllers for Discrete-Time Systems Subject to Actuator Faults

Exponential State Enclosure Techniques for the Implementation of Validated Model Predictive Control

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