This paper demonstrates the design of loop-shaping controller for a linear time invariant (LTI) system with input saturation constraint. The design problem has been formulated in the four-block synthesis framework, which is equivalent to normalized coprime factor robust stabilization problem. The shaped plant is represented as a polytopic linear parameter varying (LPV) system while saturation nonlinearity is considered. For a polytopic model, the LTI loop-shaping controllers have been designed at each vertex of the polytope using linear matrix inequalities, and subsequently controllers are scheduled by adopting a certain interpolation procedure. The proposed controller ensures the stability and robust -performance of the closed-loop system due to vertex property of the polytopic LPV shaped plant. The effectiveness of the design method has been illustrated through a numerical example.
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e-mail: souravpat@gmail.com
e-mail: ssen@ee.iitkgp.ernet.in
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January 2011
Technical Briefs
Design of Loop-Shaping Controller for LTI System With Input Saturation: Polytopic Gain Scheduled Approach
S. Patra,
S. Patra
Department of Electrical Engineering,
e-mail: souravpat@gmail.com
Indian Institute of Technology
, Kharagpur 721302, India
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S. Sen,
S. Sen
Department of Electrical Engineering,
e-mail: ssen@ee.iitkgp.ernet.in
Indian Institute of Technology
, Kharagpur 721302, India
Search for other works by this author on:
G. Ray
G. Ray
Department of Electrical Engineering,
e-mail: gray@ee.iitkgp.ernet.in
Indian Institute of Technology
, Kharagpur 721302, India
Search for other works by this author on:
S. Patra
Department of Electrical Engineering,
Indian Institute of Technology
, Kharagpur 721302, Indiae-mail: souravpat@gmail.com
S. Sen
Department of Electrical Engineering,
Indian Institute of Technology
, Kharagpur 721302, Indiae-mail: ssen@ee.iitkgp.ernet.in
G. Ray
Department of Electrical Engineering,
Indian Institute of Technology
, Kharagpur 721302, Indiae-mail: gray@ee.iitkgp.ernet.in
J. Dyn. Sys., Meas., Control. Jan 2011, 133(1): 014506 (6 pages)
Published Online: December 2, 2010
Article history
Received:
January 22, 2008
Revised:
February 14, 2010
Online:
December 2, 2010
Published:
December 2, 2010
Citation
Patra, S., Sen, S., and Ray, G. (December 2, 2010). "Design of Loop-Shaping Controller for LTI System With Input Saturation: Polytopic Gain Scheduled Approach." ASME. J. Dyn. Sys., Meas., Control. January 2011; 133(1): 014506. https://doi.org/10.1115/1.4001328
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