We consider the output regulation problem for linear systems subject to actuators saturation. A state-feedback unconstrained regulator is transformed into an error-feedback bounded regulator by introducing an observer which is then decomposed into the sum of unconstrained and antiwindup dynamics. The unconstrained dynamics are regulated towards a predefined reference trajectory, by a control signal u which may violate the saturation bounds during transients. The antiwindup dynamics transiently store the mismatch between unconstrained and constrained dynamics. The antiwindup design also applies to a predefined error-feedback dynamic regulator for the unconstrained system, as in standard antiwindup setting. As a particular case of distinct interest, the design provides a new global asymptotic stabilizer for saturated null-controllable systems.

Antiwindup regulation of saturated linear systems

Zaccarian, Luca;
2012-01-01

Abstract

We consider the output regulation problem for linear systems subject to actuators saturation. A state-feedback unconstrained regulator is transformed into an error-feedback bounded regulator by introducing an observer which is then decomposed into the sum of unconstrained and antiwindup dynamics. The unconstrained dynamics are regulated towards a predefined reference trajectory, by a control signal u which may violate the saturation bounds during transients. The antiwindup dynamics transiently store the mismatch between unconstrained and constrained dynamics. The antiwindup design also applies to a predefined error-feedback dynamic regulator for the unconstrained system, as in standard antiwindup setting. As a particular case of distinct interest, the design provides a new global asymptotic stabilizer for saturated null-controllable systems.
2012
Conference on Decision and Control
USA
IEEE-CSS
F., Forni; Zaccarian, Luca; R., Sepulchre
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/67126
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
social impact