TAILIEUCHUNG - Design of Feedback Control Systems for Stable Plants with Saturating Actuators

A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design | MARCH 1988 LIDS-P-1756 Design of Feedback Control Systems for Stable Plants with Saturating Actuators1 by Peưos Kapasouris Michael Athans Gunter Stein Room 35-406 Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 ABSTRACT A systematic conttol design methodology is introduced for multi-input multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input single-output approaches. The idea is to introduce a supervisor loop so that when the references and or disturbances are sufficiently small the control system operates linearly as designed. For signals large enough to cause saturations the control law is modified in such a way to ensure stability and to preserve to the extent possible the behavior of the linear control design. Key benefits of this methodology are the modified compensator never produces saturating control signals integrators and or slow dynamics in the compensator never windup the directional properties of the controls are maintained and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft 1 . . This research was conducted at the . Laboratory for Information and Decision Systems with support provided by the General Electric Corporate Research and Development Center and by the NASA Ames and Langley Research Centers under grant NASA NAG 2-297. Now with ALPHATECH Inc. Also with HONEYWELL Inc. This paper has been submitted to the 27lh IEEE Conference on Decision and Control. Page 1 1. Introduction . Almost every physical system has maximum and minimum limits or saturations on its control signals. For multivariable systems a major problem that arises because of saturations is the fact that control

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