Robust and optimal control
Robust Constrained Regulator Problem for Linear Uncertain Systems
Journal of Dynamical and Control Systems
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Performance with regulation constraints
Automatica (Journal of IFAC)
Brief Control of linear systems subject to input constraints: a polynomial approach
Automatica (Journal of IFAC)
Regulator problem for linear systems with constraints on control and its increment or rate
Automatica (Journal of IFAC)
Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia
WSEAS TRANSACTIONS on SYSTEMS
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Robust static feedback stabilization of linear systems with uncertainties and bounded control inputs is studied. Necessary and sufficient conditions of positive invariance of polyhedral domains with respect to motion of uncertain linear systems are formulated together with conditions ensuring the asymptotic stability of uncertain linear systems with bounded control inputs. The problem of robust static feedback controller calculation is solved by the inversion method. The approach has several advantages. It enables to include control input boundaries into the controller design. It can be used for both, robust static state feedback and robust static output feedback controller design. The designed controllers can be P or PI ones. The designed approach is verified by simulation results obtained for an exothermic continuous stirred tank reactor with two uncertain parameters. The reactor is open-loop unstable. The possibility to stabilize the reactor using static output feedback P or PI controllers in the presence of boundaries on control inputs is confirmed.