Controller and anti‐windup co‐design for the output regulation of rational systems subject to control saturation
This article presents a novel framework for the output regulation of rational nonlinear systems subject to input saturation, where the controller structure is composed by an internal model generator in series with an output feedback stabilizing stage. In order to address the effects of control satur...
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| Vydané v: | International journal of robust and nonlinear control Ročník 31; číslo 4; s. 1395 - 1417 |
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| Hlavní autori: | , , , |
| Médium: | Journal Article |
| Jazyk: | English |
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Bognor Regis
Wiley Subscription Services, Inc
10.03.2021
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| ISSN: | 1049-8923, 1099-1239 |
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| Abstract | This article presents a novel framework for the output regulation of rational nonlinear systems subject to input saturation, where the controller structure is composed by an internal model generator in series with an output feedback stabilizing stage. In order to address the effects of control saturation, we propose the use of an anti‐windup compensation loop into both internal model and stabilizing control stages. Given prior knowledge of the system zero‐error steady‐state condition and a proper internal model, we cast the regulation error dynamics in a differential‐algebraic form, which leads to matrix inequalities conditions that ensure closed‐loop stability and exponential transient performance. Optimization problems are then proposed to simultaneously compute the stabilizing controller and the anti‐windup gains such that a domain of attraction estimate is maximized. |
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| AbstractList | This article presents a novel framework for the output regulation of rational nonlinear systems subject to input saturation, where the controller structure is composed by an internal model generator in series with an output feedback stabilizing stage. In order to address the effects of control saturation, we propose the use of an anti‐windup compensation loop into both internal model and stabilizing control stages. Given prior knowledge of the system zero‐error steady‐state condition and a proper internal model, we cast the regulation error dynamics in a differential‐algebraic form, which leads to matrix inequalities conditions that ensure closed‐loop stability and exponential transient performance. Optimization problems are then proposed to simultaneously compute the stabilizing controller and the anti‐windup gains such that a domain of attraction estimate is maximized. |
| Author | Gomes da Silva Jr, João M Castro, Rafael S. Salton, Aurélio T. Flores, Jeferson V. |
| Author_xml | – sequence: 1 givenname: Rafael S. orcidid: 0000-0002-8001-5194 surname: Castro fullname: Castro, Rafael S. email: rafael.castro@pucrs.br organization: Pontifical Catholic University of Rio Grande do Sul – sequence: 2 givenname: Jeferson V. orcidid: 0000-0003-2188-4661 surname: Flores fullname: Flores, Jeferson V. organization: Universidade Federal do Rio Grande do Sul – sequence: 3 givenname: Aurélio T. orcidid: 0000-0002-5814-0853 surname: Salton fullname: Salton, Aurélio T. organization: Universidade Federal do Rio Grande do Sul – sequence: 4 givenname: João M orcidid: 0000-0002-6275-2895 surname: Gomes da Silva Jr fullname: Gomes da Silva Jr, João M organization: Universidade Federal do Rio Grande do Sul |
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| SubjectTerms | anti‐windup Controllers input saturation linear matrix inequalities Nonlinear systems Optimization Output feedback output regulation Saturation Transient performance |
| Title | Controller and anti‐windup co‐design for the output regulation of rational systems subject to control saturation |
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