Switching of H∞ controller under constraints and decision of controller state at instance of the controller switching

In real control systems, certain constraints are placed on the input, state, and output values. If such constraints are violated, the system may become unstable, in a worst-case scenario. One of the promising approaches to solving this problem is to switch the controller according to the state of the closed-loop system. No useful design strategy for each controller, however, has yet been developed. In addition, the determination of the controller state at the instant of controller switching has not been investigated. First, this paper presents a new design methodology which merges the switching control and H∞ controller design into one design algorithm. Second, this paper presents a way of determining the controller state at the instant of controller switching. Finally, the proposed method is applied to force control of a one-DOF manipulator in order to demonstrate the usefulness of the proposed method. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 142(2): 68–75, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.10082