Scheduled controllers for linear systems with bounded actuators

Authors:
I. Emre KöSe;Faryar Jabbari
Affiliations:
Department of Mechanical Engineering, Boğaziçi University, Istanbul, Turkey;Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697 3975, USA
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

State and output feedback controllers are designed for disturbance attenuation in linear systems with bounded actuators. The controller is scheduled according to the proximity to the origin of the state of the plant in the state-feedback case and the compensator state in the case of output feedback. This procedure yields a linear parameter-varying structure for the controller that allows higher-gain and hence higher-performance controllers as the states move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the saturation bounds. Linear splines are used to obtain solutions that can be obtained by standard LMI software. Examples-including an open-loop unstable system-highlight the application of the results.