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Dynamic controllers for local input‐to‐state stabilization of discrete‐time linear parameter‐varying systems with delay and saturating actuators
Author(s) -
Souza Carla,
Castelan Eugênio B.,
Leite Valter J. S.
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5265
Subject(s) - control theory (sociology) , actuator , discrete time and continuous time , bounded function , interval (graph theory) , regular polygon , state (computer science) , energy (signal processing) , class (philosophy) , computer science , mathematics , control (management) , algorithm , mathematical analysis , statistics , artificial intelligence , geometry , combinatorics
Summary We address the design of dynamic parameter‐dependent controllers with antiwindup action to locally stabilize in the input‐to‐state sense a class of discrete‐time linear parameter‐varying (LPV) systems. Such a class consists of systems with delayed state, saturating actuators, and subject to energy bounded disturbances. Moreover, the interval time‐varying delay can have a limited variation rate between two consecutive instants allowing to achieve less conservative design conditions. Differently from other conditions in the literature, the proposed convex synthesis methods allow to design dynamic controllers of different orders. Additionally, the user can choose to feed back only the current output of the system or its delayed ones. Thanks to the embedded (parameter dependent) antiwindup action, it is possible, for instance, to enlarge the region of admissible initial conditions or the maximum admissible disturbance energy. To illustrate the efficiency of our approach, we present numerical examples to compare with other methods from the literature.