Robust Control of SISO Systems Subject to Hard Input Constraints
2001 (English)In: Proceedings of the 2001 European Control Conference, 2001, 1536-1541 p.Conference paper (Refereed)
The design of robust controllers that guarantee prescribed hard bounds on the control signal when facing model uncertainty is considered. Our approach to avoid a conservative design is to describe the external signals quite accurate by means of admissible sets, hard bounded in amplitude and rate. The core problem to solve is the calculation of the maximum output amplitude of a set of systems. This problem will be solved for a certain parameterization of the set in a computationally attractive way. Controller design can then be formulated by employing a double Youla parameterization of uncertain plant and stabilizing controllers. We demonstrate, how the employed model uncertainty can be identified by means of standard identification techniques. Moreover, we present a combination with an MPC scheme, that allows us to obtain faster time responses and invites the possibility to encounter for time domain and frequency domain performance specifications.
Place, publisher, year, edition, pages
2001. 1536-1541 p.
Constraint control, Saturation avoidance, Hard bounds, Robust control, Double youla parameterization
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-90804OAI: oai:DiVA.org:liu-90804DiVA: diva2:616407
2001 European Control Conference, Porto, Portugal, September, 2001