Stabilization of Discrete-time Systems With Bounded Control Inputs
MetadataShow full item record
In this paper we examine the stabilization of LTI discrete-time systems with control input constraints in the form of saturation nonlinearities. This kind of constraint is usually introduced to simulate the effect of actuator limitations. Since global controllability can not be assumed in the presence of constrained control, the controllable regions and their characterizations are analyzed first. We present an efficient algorithm for finding controllable regions in terms of their boundary hyperplanes (inequality constraints). A previously open question about the exact number of irredundant boundary hyperplanes is also resolved here. The main result of this research is a time-optimal nonlinear controller which stabilizes the system on its controllable region. We give analgorithm for on-line computation of control which is also implementable for high-order systems. Simulation results show superior response even in the presence of disturbances.
Cite this work
Anes Jamak (2000). Stabilization of Discrete-time Systems With Bounded Control Inputs. UWSpace. http://hdl.handle.net/10012/765
Showing items related by title, author, creator and subject.
Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller Jalali, Kiumars; Uchida, Thomas; McPhee, John; Lambert, Steve (SAE International, 2013-04-08)The optimum driving dynamics can be achieved only when the tire forces on all four wheels and in all three coordinate directions are monitored and controlled precisely. This advanced level of control is possible only when ...
A New Control Strategy for Coordinated Control of Ground Vehicle Vertical Dynamics via Control Allocation Binder, Michael Karl (University of Waterloo, 2014-08-08)The scope of this thesis concerns the basic research and development of a coordinated control system for the control of vehicle roll and pitch dynamics using suspension forces as actuators. In this thesis, the following ...
Unified power flow controller, modeling, stability analysis, control strategy and control system design Sreenivasachar, Kannan (University of Waterloo, 2001)