In this note, we address the reachability of switched linear systems with switching/input constraints. We prove that, under a mild assumption of the feasible switching signals, the reachability set is the reachable subspace of the unconstrained switched system. We also investigate the local reachability for switched systems with input constraints and present a complete criterion for a general c...

The handling of various input constraints in the self-tuning generalized predictive control (STGPC) problem of ARIMAX/ARMAX systems is considered. The methods based on the Lagrange multipliers and Lemke’s algorithm are used to solve the constrained optimization problem. A self-tuning controller is implemented in an indirect way, and the considered constraints imposed on the control input signal...

For input/ouput (i/o) operators, an equivalence is shown between realizability by state space systems and the existence of analytic constraints on higher order derivatives of i/o signals. This provides a precise characterization of realizability, extending to the general analytic case previous work that dealt with the equivalence between algebraic realizability and algebraic i/o equations.

Efficient design of high performance automatic control systems is extremely important for high technology systems. To get the best hardware cost-to-performance ratio, it is desirable to design a controller that takes full advantage of actuator capabilities, but this can lead to nonlinear behavior due to actuator saturation. The saturation nonlinearities in the system may have severe effects on ...

A systematic design method for observer based linear control of LTI systems with input constraints is introduced. The method allows to optimize the observer parameters with respect to the system’s performance while at the same time the compliance with the constraints is guaranteed. To improve the results we further propose a method to design both the controller and the observer simultaneously. ...

We study tracking controller design problems for key models of planar vertical takeoff and landing (PVTOL) aircraft and unmanned air vehicles (UAVs). The novelty of our PVTOL work is the global boundedness of our controllers in the decoupled coordinates, the positive uniform lower bound on the thrust controller, the applicability of our work to cases where the velocity measurements may not be a...

This paper proposes a methodology for output feedback control of parabolic PDE systems with input constraints. Initially, Galerkin’s method is used for the derivation of a finite-dimensional ODE system that captures the dominant dynamics of the PDE system. This ODE system is then used as the basis for the synthesis, via Lyapunov techniques, of stabilizing bounded output feedback control laws th...

Native English speakers include irregular plurals in English noun-noun compounds (e.g. mice chaser) more frequently than regular plurals (e.g. *rats chaser) (Gordon, 1985). This dissociation in inflectional morphology has been argued to stem from an internal and innate morphological constraint as it is thought that the input to which English speaking children are exposed is insufficient to sign...

The objective of this paper is to illustrate how recent advances in convex programming can be used in input design in system identification. It is shown that sum of squares techniques and a recent generalization of the KYP lemma can be used to transform input design problems with frequency dependent bounds on the frequency function to convex optimization problems. Another important problem that...

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system,...