Saturated Tracking Control for Input Amplitude Constrained Linear Systems in the Presence of the Energy-bounded Disturbances

We propose a new saturating set point tracking controller based on a two-degree-of-freedom structure for linear dynamics subject to actuator constraints with simultaneous influence of disturbances. The overall control system consists of a model-based feedforward control with a saturated controller and a classical controller for disturbance rejection based on a linear unconstrained plant. This approach facilitates a faster convergence by allowing the controller to saturate while guaranteeing the stability of the closed control loop. Furthermore, the actuating variable range is adjusted to account for reference tracking and disturbance rejection depending on the current situation. The parameterization of the controller is achieved by solving a convex optimization problem based on linear matrix inequalities (LMIs). The effectiveness of the new approach is demonstrated by simulation studies of an unstable system.

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