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Gain Scheduled State Feedback and Disturbance Feedforward Control for Systems with Bounded Control Input - Theory  

Kang, Min-Sig (경원대학교 기계자동차공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.24, no.11, 2007 , pp. 59-65 More about this Journal
Abstract
A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_2$-gain from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.
Keywords
Input saturation; Disturbance feedforward; State feedback; Gain scheduled control; Linear Matrix Inequality (LMI); $L_2$-gain;
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Times Cited By KSCI : 2  (Citation Analysis)
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