This note addresses the problem of local stabilization of linear systems subject to control amplitude and rate saturation. Considering the actuator represented by a first-order system subject to input and state saturation, a condition for the stabilization of an a priori given set of admissible initial states is formulated from certain saturation nonlinearities representation and quadratic stab...

In this paper we address control systemswith redundant actuators and characterize the concepts of weak and strong input redundancy. Based on this characterization, we propose a dynamic augmentation to a control scheme which performs the plant input allocation with the goal of employing each actuator in a suitableway, based on itsmagnitude and rate limits. The proposed theory is first developed ...

Offline crane maneuvers, resulting in zero residual payload swing, have been explored previously using parameterized sets of basis functions. Assumptions usually included an ideal servo response and symmetric inputs. Nonsymmetric maneuvers, in general, do not have closedform basis function solutions. Actuator dynamics further complicate maneuver generation by introducing nonlinearities such as ...

Traditional adaptive control lacks rigorous theoretical treatment for control in the presence of actuator saturation. Generally, adaptation is stopped as soon as the control saturates to avoid incorrect adaptation. Adaptation in the presence of saturation may be critical, especially when the controller is recovering from a failure. This paper presents an Adaptive Control methodology that facili...

Ultrahigh precision scanning has emerged as a promising and challenging technology in nanoscale measurement manipulation. Besides the requirement of dynamical tracking periodical references, existence control saturation, due to limited stroke microactuators, poses additional challenges for such systems. To address this problem, we propose repetitive structure with predictive antiwindup compensa...

Multiple objective genetic algorithms (MOGAs) simultaneously optimize a control law and geometrical features of a set of homopolar magnetic bearings (HOMB) supporting a generic flexible, spinning shaft. The minimization objectives include shaft dynamic response (vibration), actuator mass and total actuator power losses. Levitation of the spinning rotor and dynamic stability are constraint condi...

In this paper an approach for robust anti-windup compensation design for multivariable controllers based on the characterization of H2-H∞ norms as Linear Matrix Inequalities (LMI) is presented. The method consider a mix of H2-H∞ performance indexes on the transfer functions of the disturbances to the controlled output, and of the actuator output signal to the controller output signal. The contr...

The composite nonlinear feedback control tec hnique is developed for a class of linear systems with actuator saturation, which consists of a linear and a nonlinear feedback parts without any switching element. The linear part is to yield a quick response in face of the actuator limits for the desired input levels. The nonlinear part is to reduce the overshoot caused by the linear part as the sy...

A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming proble...