Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers
Por:
Seeber, Richard, Moreno, Jaime A.
Publicada:
1 ene 2020
Categoría:
Control and systems engineering
Resumen:
The problem of extending an existing state-feedback controller by an
integrator is considered. A structural insight into the design of such
controllers is presented for the linear case, which allows to preserve
the performance of the given controller in a certain sense. Using this
insight, a second order homogeneous state feedback controller with
discontinuous integral action is proposed, which can reject arbitrary
slope bounded, i.e., Lipschitz continuous, perturbations. By means of
Lyapunov methods, stability conditions for the closed loop system and a
bound for its finite convergence time are derived. Numerical simulations
illustrate the results and provide further insight into the tuning of
the proposed approach. Copyright (C) 2020 The Authors.
Filiaciones:
Seeber, Richard:
Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems, Institute of Automation and Control, Graz University of Technology, Graz, Austria
Moreno, Jaime A.:
Instituto de Ingeneria, Universidad Nacional Autónoma de México, Mexico City, Mexico
Bronze
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