constrained control and rate or increment for linear systems with additive disturbances约束控制和速度或者增加具有加性扰动的线性系统.pdfVIP

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constrained control and rate or increment for linear systems with additive disturbances约束控制和速度或者增加具有加性扰动的线性系统.pdf

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constrained control and rate or increment for linear systems with additive disturbances约束控制和速度或者增加具有加性扰动的线性系统

CONSTRAINED CONTROL AND RATE OR INCREMENT FOR LINEAR SYSTEMS WITH ADDITIVE DISTURBANCES FOUAD MESQUINE, FERNANDO TADEO, AND ABDELLAH BENZAOUIA Received 17 May 2005; Revised 9 May 2006; Accepted 18 May 2006 This paper is devoted to the control of linear systems with constrained control and rate or increment with additive bounded disturbances. Necessary and suﬃcient conditions such that the system evolution respects rate or increment constraints are used to derive stabilizing feedback control. The control law respects both constraints on control and its rate or increment and is robust against additive bounded disturbances. An application to a surface mount robot, where the Y-axis of the machine uses a typical ball screw trans- mission driven by a DC motor to position circuits boards, is achieved. Copyright © 2006 Fouad Mesquine et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 1. Introduction Usually, real or physical plants are subject to constrained variables. The most frequent constraints are of saturation type: limitations on the magnitude of certain variables. Hence, this topic is of continuing interest and one could ﬁnd many approaches to study this problem; not exhaustively, the positive invariance concept [4–6, 8, 10] (and the ref- erences therein) the small and high gain concept [21], the l 1 optimization concept [12], and so on, can be cited. Other types of rate or incremental constraints were introduced while considering predictive control and practical applications [ 1, 11, 25], and other ap- proaches [ 14, 25], and so forth. In fact, for some processes, the rate of changes variable is limited within given bounds. These limits can arise from physical limits or from modelling assumptions, if exceeded, could damage the process or destroy limits of