Abstract

RIOS BOLIVAR, Addison. Robust control and aw compensation in uncertain discrete-time linear systems. Rev. Fac. Ing. UCV [online]. 2011, vol.26, n.3, pp.97-110. ISSN 0798-4065.

In this contribution an approach for the synthesis of robust controller with compensation of saturation in the actuators is presented. The technique is applied in discrete-time linear systems with polytopic uncertainties, taking into account a performance index on a transfer function that involves the difference between the actuator output signal and the controller output, and its effect on the control signal. For it, the saturation in the actuators is considered like a disturbance in the performance of the action of the control signal, which allows to establish operation indices for the design of the control law (static output feedback), and for the synthesis of a gain of compensation for the problem of windup. Thus, the method exhibits certain properties of robustness in front of changes in the operation of the actuators. For the synthesis of the gains of static output feedback and the compensation gain, an approach derived from the techniques of robust optimal control in H₂/H_¥ for linear systems with polytopic uncertainties is proposed, which is based on linear matrix inequalities (LMIs). In order to verify the properties of the propose technique a numerical example is also presented.

Keywords : Discrete-time linear systems; Static output feedback; Robust control; Polytopical uncertainty; Linear matrix Inequalities (LMI); H₂/H_¥ Norms.