Design of Robust Controller for a Class of Uncertain Discrete-Time Systems Subject to Actuator Saturation

This technical note studies the robust output tracking controller design for a class of uncertain discrete-time systems subject to actuator saturation. To achieve this capability, a new controller is proposed by robustifying the discrete-time composite nonlinear feedback (DCNF) control law. Since, t...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 62; no. 3; pp. 1505 - 1510
Main Authors: Binazadeh, Tahereh, Bahmani, Majid
Format: Journal Article
Language:English
Published: IEEE 01.03.2017
Subjects:
Actuator saturation
Actuators
Attenuation
Damping
Discrete-time systems
Eigenvalues and eigenfunctions
robust tracking
Robustness
Steady-state
time-varying disturbances
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Summary:This technical note studies the robust output tracking controller design for a class of uncertain discrete-time systems subject to actuator saturation. To achieve this capability, a new controller is proposed by robustifying the discrete-time composite nonlinear feedback (DCNF) control law. Since, the proposed controller may be saturated; a precise analysis is done to show its robust performance in spite of presence of actuator saturation and time-varying external disturbances. Additionally, a theorem is given and proved which guarantees the disturbance attenuation via the proposed control law for three different cases of the saturation function and it is shown that even if the control signal is saturated, the proposed controller achieves steady-state error of order O(T) for state regulation. Finally, computer simulations are performed for a practical system and the applicability of the proposed controller is shown.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2580662