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Controller and anti‐windup co‐design for the output regulation of rational systems subject to control saturation
Author(s) -
Castro Rafael S.,
Flores Jeferson V.,
Salton Aurélio T.,
Gomes da Silva Jr João M
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.5348
Subject(s) - control theory (sociology) , internal model , controller (irrigation) , nonlinear system , saturation (graph theory) , compensation (psychology) , computer science , mathematics , control (management) , psychology , physics , quantum mechanics , combinatorics , artificial intelligence , psychoanalysis , agronomy , biology
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.