Compiling the most significant advances from nearly a decade of research, this reference compares and evaluates a wide variety of techniques for the design, analysis, and implementation of control methodologies for systems with actuator saturation. The book presents efficient computational algorithms and new control paradigms for application in the mechanical, electrical, and aerospace industries.
Offering real-world solutions to manage system constraints, Actuator Saturation Control provides concise tutorials on recent breakthroughs in the field; novel procedures to achieve global stability, optimal performance, and dynamic anti-windup; practical strategies to model and predict actuator dynamics; effective methods to reduce system sensitivity to external disturbances; equations within the stochastic linearization framework for actuator saturation control; current approaches to ensure graceful performance degradation in the presence of saturation phenomena; linear parameter-varying (LPV) formulations of state and output feedback controllers, and a comprehensive survey of optimal windup and directionality compensation.
Table of Contents
Uniting local and global controllers for anti-windup design; LQR/LQG theory for systems with saturated actuators - a stochastic linearization approach; LPV-based control of systems with amplitude and rate actuator saturation constraints; analysis and control of linear systems with saturation using convex optimization; an LPV approach for disturbance attentuation of systems with bounded inputs; regional H2 performance analysis and synthesis with saturating control; control of discrete-time systems with actuator amplitude and rate nonlinearities; null controllability and stabilization of linear systems subject to asymmetric actuator saturation; internal stabilization and Lp(1p) performance for linear plants with actuators subject to amplitude and rate saturations; optimal windup and directionality compensation in input-constrained nonlinear systems; output feedback compensators for linear systems with position and rate bounded actuators.