TY - JOUR
T1 - Low-gain Integral Control for Multi-Input, Multi-Output Linear Systems with Input Nonlinearities
AU - Guiver, Christopher
AU - Logemann, Hartmut
AU - Townley, Stuart
PY - 2017/9/1
Y1 - 2017/9/1
N2 - 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.
AB - 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.
UR - http://10.1109/TAC.2017.2691301
UR - https://www.scopus.com/pages/publications/85021800849
U2 - 10.1109/TAC.2017.2691301
DO - 10.1109/TAC.2017.2691301
M3 - Article
SN - 0018-9286
VL - 62
SP - 4776
EP - 4783
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 9
M1 - 7953659
ER -