Control Systems with Saturating Inputs: Analysis Tools and Advanced Design (Lecture Notes in Control and Information Sciences, 424)

✍ Scribed by Maria Letizia Letizia Corradini

• Publisher: Springer
• Year: 2012
• Tongue: English
• Leaves: 146
• Category: Library

✦ Synopsis

Saturation nonlinearities are ubiquitous in engineering systems: every physical actuator or sensor is subject to saturation owing to its maximum and minimum limits. Input saturation is an operating condition that is well known to the control community for its “side effects”, which cause conventional controllers to lose their closed-loop performance as well as control authority in stabilization. Therefore, the practical application of control theory cannot avoid taking into account saturation nonlinearities in actuators, explicitly dealing with constraints in control design.

✦ Table of Contents

Title
Preface
Symbols and Notation
Acronyms
Contents
Part I: Introduction and Analysis Tools
Introduction
Linear Plants with Actuator Saturation
Background
Outline of the Book
Estimation of the Null Controllable Region: Continuous-Time Plants
Introductory Remarks and Definitions
The SISO Planar Case
Real Eigenvalues
Complex Eigenvalues
Some Remarks
The SISO n-Dimensional Case
Remarks and Discussion
The MIMO Case
Method of Lower-Order Single Input Subsystems
Direct Method
Examples
Estimation of the Null Controllable Region: Discrete-Time Plants
The SISO Planar Case
Systems with Positive Real Eigenvalues
The SISO n-Dimensional Case
The MIMO Case
Method of Lower-Order Single Input Subsystems
Direct Method
Examples
Part II Design Issues
Control Design Issues: Continuous-Time Plants
Invariant Strips and Linear Feedback Laws
Planar Systems
A Simulation Example
Multidimensional Systems
Semiglobal Stabilization by a Finite Number of Actuators
A Planar Example
Extension to Multi-Input Systems
Nonlinear Robust Controller Design via Sliding Modes
A Time Varying Sliding Surface
The Control Law
Some Remarks
A Procedure for Determining the Coefficients of the Sliding Surface
Practical Issues
Simulation Results
Control Design Issues: Discrete-Time Plants
Invariant Strips and Linear Feedback Laws
Nonlinear Robust Controller Design via Quasi-sliding Modes
Problem Statement
The Control Law
A Systematic Procedure
Stability Analysis and Transient Shaping
A Benchmark Test
Experimental Data: Stabilization of a Twin Rotor System
Problem Statement
A Finite Time Stabilizing Controller with Saturating Inputs
Presence of Bounded Uncertainties
Experimental Results
Appendix A
References
Index