ABSTRACT

This paper presents a robust ${\mathcal{L}}_2$-based Static Output Feedback (SOF) controller design for a class of linear continuous-time polytopic systems subject to actuator saturation, which is a feature common to vast industrial processes. New sufficient LMI conditions are derived for the design of SOF controllers using parameter-dependent Lyapunov function. The development incorporates the decomposition of an auxiliary matrix variable so that approximation in deducing the LMIs involve reduced-size matrices. In addition, ${\mathcal{L}}_2$ performance under the constraint of actuator saturation is considered to develop a framework of a considerably complete problem. Several design cases are taken to demonstrate the efficacy of the proposed method. Moreover, the completeness of the design is illustrated through experimental results on a twin-rotor MIMO system, and comparison of the results is presented with those existing in the literature.

摘要

本文提出了一个稳健的${\mathcal{大号}}_2$-基于静态输出反馈 (SOF) 控制器设计，用于一类线性连续时间多面体系统，该系统受致动器饱和影响，这是广泛工业过程的共同特征。使用参数相关的 Lyapunov 函数为 SOF 控制器的设计推导了新的充分 LMI 条件。该开发结合了辅助矩阵变量的分解，因此在推导 LMI 时的近似涉及尺寸减小的矩阵。此外，${\mathcal{大号}}_2$执行器饱和约束下的性能被认为是开发一个相当完整问题的框架。采用几个设计案例来证明所提出方法的有效性。此外，通过在双转子 MIMO 系统上的实验结果说明了设计的完整性，并将结果与​​现有文献进行了比较。