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

Guiver, Christopher; Logemann, Hartmut; Townley, Stuart

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.

Citation

Guiver, C., Logemann, H., & Townley, S. (2017). Low-gain Integral Control for Multi-Input, Multi-Output Linear Systems with Input Nonlinearities. IEEE Transactions on Automatic Control, 62(9), 4776-4783. https://doi.org/10.1109/TAC.2017.2691301

• Journal Article Type: Article
• Acceptance Date: Mar 19, 2017
• Online Publication Date: Jun 20, 2017
• Publication Date: 2017-09
• Deposit Date: Jul 23, 2020
• Publicly Available Date: Aug 7, 2020
• Journal: IEEE Transactions on Automatic Control
• Print ISSN: 0018-9286
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 62
• Issue: 9
• Pages: 4776-4783
• DOI: https://doi.org/10.1109/TAC.2017.2691301
• Keywords: Antiwindup methods, constrained control, robust control, stability of nonlinear (NL) systems
• Public URL: http://researchrepository.napier.ac.uk/Output/2677301