Low-gain Integral Control for Multi-Input, Multi-Output Linear Systems with Input Nonlinearities

Christopher Guiver; Hartmut Logemann; Stuart Townley

doi:10.1109/TAC.2017.2691301

Low-gain Integral Control for Multi-Input, Multi-Output Linear Systems with Input Nonlinearities

Christopher Guiver, Hartmut Logemann, Stuart Townley

University of Exeter

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Abstract

We consider the inclusion of a static anti-windup component in a continuous-time low-gain integral controller in feedback with a multi-input multi-output stable linear system subject to an input nonlinearity (from a class of functions that includes componentwise diagonal saturation). We demonstrate that the output of the closed- loop system asymptotically tracks every constant reference vector which is “feasible” in a natural sense, provided that the integrator gain is sufficiently small. Robustness properties of the proposed control scheme are investigated and three examples are discussed in detail.

Original language	English
Article number	7953659
Pages (from-to)	4776 - 4783
Journal	IEEE Transactions on Automatic Control
Volume	62
Issue number	9
Early online date	20 Jun 2017
DOIs	https://doi.org/10.1109/TAC.2017.2691301
Publication status	Published - 1 Sept 2017

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Cite this

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Low-gain Integral Control for Multi-Input, Multi-Output Linear Systems with Input Nonlinearities

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