Robust control of processes subject to saturation nonlinearities

Campo, Peter J.; Morari, Manfred

doi:10.1016/0098-1354(90)87011-d

Cited by 251 publications

(116 citation statements)

References 9 publications

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“…Walgama and Sternby [ll] have clearly exposed this inherent observer property in a large number of anti-windup schemes. Campo and Morari [3] have derived the Hanus conditioned controller independently as a special case of the observer-based approach.…”

Section: Introductionmentioning

confidence: 99%

Anti-windup design for internal model control

Zheng

Kothare

Morari

1994

International Journal of Control

272

173

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Section: Introductionmentioning

confidence: 99%

Anti-windup design for internal model control

Zheng

Kothare

Morari

1994

International Journal of Control

272

173

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“…On the other hand, in the case where A p is Hurwitz the global asymptotic stability of the system can be checked. In this case, following the results based on integral quadratic constraints (IQCs) stated in [4], [12] for systems presenting repeated saturations, 3 different nondiagonal multipliers T can be used as follows. …”

Section: B Global Asymptotic Stability Analysismentioning

confidence: 99%

“…2 (Ap02 + 111 + B2(A1 + B1C))) : (3) Thus, from the definitions in (2) and (3), system (1) can be rewritten as (4) Note that in the absence of saturation one gets j (x) = 0, j = 1; . .…”

Section: Introductionmentioning

confidence: 99%

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Stability Analysis and Stabilization of Systems Presenting Nested Saturations

Tarbouriech

Prieur

Silva

2006

IEEE Trans. Automat. Contr.

239

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Abstract-This note addresses the problems of stability analysis and stabilization of systems presenting nested saturations. Depending on the open-loop stability assumption, the global stability analysis and stabilization problems are considered. In the (local) analysis problem, the objective is the determination of estimates of the basin of attraction of the system. Considering the stabilization problem, the goal is to design a set of gains in order to enlarge the basin of attraction of the closed-loop system. Based on the modelling of the system presenting nested saturations as a linear system with dead-zone nested nonlinearities and the use of a generalized sector condition, linear matrix inequality (LMI) stability conditions are formulated. From these conditions, convex optimization strategies are proposed to solve both problems.

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“…Actuator saturation is a topic of active research in control theory, [1]- [7]. Most of the current literature is geared toward the regulation and set-point control problems as opposed to tracking control, and thus does not directly apply to maneuvering and manual flight control.…”

Section: Introductionmentioning

confidence: 99%

Manual tracking control with amplitude and rate constrained actuators

Miller¹,

Pachter²

Proceedings of 35th IEEE Conference on Decision and Control

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Tracking control in a receding horizon fiamework is considered and a novel, optimization-based, linear tracking control strategy -Linear Quadratic Tracking (LQT) is de vised. LQT yields a closed-form solution to optimizationbased tracking of a dynamic reference signal r(t), in the face of both rate and amplitude actuator constraints; Actuator dynamics are included. Also, there is no inherent mukment for stability of the open-loop plant. At the same time, full state feedback is assumed. The detrimental effects of the actuator constraints are mitigated by giving the control system a nonlinearly modified, feasible refaence signal r'(t), as requid to prevent downstream actuator saturations from occurring. Thus, the controller generated signal never infringes on the saturation bounds, and windup is precluded. The analytic solution to the linear, unconstrained, tracking problem meets the small signal performance specs and is stable. The proposed piecewise linear closed form solution to the constrained tracking problem yields good responses to large inputs and at the same time requires modest on-line computation, and hence is implementable in real-time.1. Introduction Actuator saturation is a topic of active research in control theory, [1]- [7]. Most of the current literature is geared toward the regulation and set-point control problems as opposed to tracking control, and thus does not directly apply to maneuvering and manual flight control. Also, most of the work fails to address actuator rate saturation. Notable exceptions concerning tracking control are [3], 141,[6], [7], and rate saturation is explicitly adin [61, [7]. Additionally, in the tradition of Popov's work [81, most papers The exogenous system input is the reference signal from the pilot. The approach acknowledges the existence of hard constraints from the outset, and "small signal" performance is not sacrificed. Manual Flight ControlManual flight control entails a pilot flying an aircraft "by the seat of his pants" in order to satisfy a mission objective, e.g., in military aviation one objective is to engage enemy aircraft. Thus, manual flight control calls for tracking control. The tracking task begins at some point subsequent to take-off and cruise (where the aircrztft could be flown by the autopilot). Thus, the manual tracking taskis an "open-ended" problem which evolves in time; its duration is unknown prior to the completion of the task.Moreover, in the case of aircraft manual flight control, the tracking situation arises where the reference signal is known in advance. Furthermore, these control problems are strictly of a dynamic and transient nature. "Steady state" is meaningless in maneuvering and manual flight control. All of this stands in stark contrast to the classical regulation paradigm. These considerations, and bearing in mind the very nature of hard actuator constraints, indicate that the manual flight control problem should be addmsed in the time domain. Furthermore, the constrained actuator control problem is most commonly tr...

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Robust control of processes subject to saturation nonlinearities

Cited by 251 publications

References 9 publications

Anti-windup design for internal model control

Anti-windup design for internal model control

Stability Analysis and Stabilization of Systems Presenting Nested Saturations

Manual tracking control with amplitude and rate constrained actuators

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