0
Technical Briefs

On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation

[+] Author and Article Information
Shou-Tao Peng

Department of Mechanical Engineering, Southern Taiwan University of Technology, Tainan, Taiwan 710, R.O.C.stpeng@mail.stut.edu.tw

J. Dyn. Sys., Meas., Control 130(3), 034502 (Apr 25, 2008) (8 pages) doi:10.1115/1.2907353 History: Received January 08, 2007; Revised November 28, 2007; Published April 25, 2008

This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

A two-dimensional illustration for the geometric relationship of the regions LV(c1), Usat(η), and Uunsat(η), when the high-gain parameter γH is chosen sufficiently large

Grahic Jump Location
Figure 2

Time responses of the controlled state and control input, for the original low-and-high gain control 16 with γ̃H=24: (a) controlled state and (b) control input

Grahic Jump Location
Figure 3

Time responses of the controlled state and control input, for the original low-and-high gain control 16 with γ̃H=300: (a) controlled state and (b) control input

Grahic Jump Location
Figure 4

Time responses of the controlled state, integral compensator, and control input for the incorporated control 7 with γH=24: (a) controlled state, (b) control input, and (c) integral compensator

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In