The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of Gain Scheduled Controllers for Linear Systems with Saturating Actuators

포화 구동기를 갖는 선형 시스템의 이득 스케듈링 제어기 설계

  • 송용희 (충북대학 제어계측공학과) ;
  • 김진훈 (충북대학 전기전자공학부)
  • Published : 2003.09.01
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Abstract

In this paper, we considered the design of gain scheduled controllers for linear systems with saturating actuators. Our basic idea is to design a control that uses higher control gain when the states are smaller, and lower gain when it is higher. By doing this, we can avoid the saturation and we can improve the performance. First, we derive a control and a reachable set expressed as LMI form, which minimizes not only the L$_2$ gain from the disturbance to the measured output but also the control is never saturated within this reachable set. Next, the reachable set is divided as nested subsets, and at each nested subset, the control gain is designed to minimize the L$_2$ gain and it is never saturated. Finally, the control gain is scheduled according to the status of states, i.e., the subset in which the states are located. A numerical example is presented to show that our gain scheduled control significantly improves the performance.

Keywords

References

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