We present a new simple approach to extend the admissible region of a saturated control law for discrete-time linear systems under state and input constraints. The approach is based on the interpolation of a given, performance driven, control law and a low-gain controller. The latter is designed such that its admissible set has maximum volume. The interpolation does not require on-line numerical optimization, and an analytical formula for the controller is given. Several numerical examples are presented to illustrate the control technique.
Simple Interpolating Control
Bemporad A.;
2018-01-01
Abstract
We present a new simple approach to extend the admissible region of a saturated control law for discrete-time linear systems under state and input constraints. The approach is based on the interpolation of a given, performance driven, control law and a low-gain controller. The latter is designed such that its admissible set has maximum volume. The interpolation does not require on-line numerical optimization, and an analytical formula for the controller is given. Several numerical examples are presented to illustrate the control technique.File in questo prodotto:
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