In this paper, an incremental nonlinear dynamic inversion (INDI) control scheme is proposed for the attitude tracking of a helicopter with model uncertainties, and actuator delay saturation constraints. A finite integral compensation based on reduction used to compensate delay, can guarantee semi-globally uniformly ultimately bounded tracking. The overall controller separated into rate, attitud...

This paper presents a methodology for designing a fault-tolerant control (FTC) system for linear parameter varying (LPV) systems subject to actuator saturation fault. The FTC system is designed using linear matrix inequality (LMI) and model estimation techniques. The FTC system consists of a nominal control, fault diagnostic, and fault accommodation schemes. These schemes are designed to achiev...

Low-gain integral control strategies are presented for tracking of constant reference signals for asymptotically stable, finite-dimensional, single-input, single-output, continuoustime or discrete-time linear systems subject to certain classes of actuator and sensor nonlinearities. Both non-adaptive (but possibly time-varying) and adaptive integrator gains are considered in continuous-time, dis...

This note considers linear systems subject to actuator saturation. An antiwindup technique is used to enlarge the domain of attraction of the closed-loop system under an a priori designed linear dynamic feedback law. The design of the antiwindup compensation gain is formulated and solved as an iterative optimization problem with LMI constraints. Numerical examples are used to demonstrate the ef...

This paper deals with the robust stability of soft variable-structure controls. More precisely, the control of linear plants subject to parametric uncertainty and actuator saturation is considered. Earlier works are summarized and new results are presented in this paper. It is shown that for all considered types of soft variable-structure controls, the robustness analysis leads to parameter-dep...

The problems of swinging up an inverted pendulum on a cart and controlling it around the upright position have been traditionally treated as two separate problems. This paper proposes a strategy that is globally asymptotically stabilizing under actuator saturation and, in addition, locally exponentially stabilizing. The proposed methodology performs swing up and control simultaneously and uses ...