Table of contents for Actuator saturation control / edited by Vikram Kapila, Karolos M. Grigoriadis.


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1 Anti-windup for Exponentially Unstable Linear Systems
   with Rate and Magnitude Input Limits
   C. Barbu, R. Reginatto, A.R. Teel, and L. Zaccarian
   1.1. Introduction
   1.2. The Anti-windup Construction
       1.2.1. Problem Statement
       1.2.2. The Anti-windup Compensator
       1.2.3. Main Result
   1.3. Anti-windup Design for an Unstable Aircraft
       1.3.1. Aircraft Model and Design Goals
       1.3.2. Selection of the Operating Region
       1.3.3. The Nominal Controller
   1.4. Simulations
   1.5. Conclusions
   1.6. Proof of the Main Result
   References

2 Selecting the Level of Actuator Saturation for Small Per-
  formance Degradation of Linear Designs
  Y. Eun, C. Gkek, P.T. Kabamba, and S.M. Meerkov
   2.1. Introduction
   2.2. Problem Formulation
   2.3. Main Result
   2.4. Examples
   2.5. Conclusions
   2.6. Appendix
   References



3 Null Controllability and Stabilization of Linear Systems
   Subject to Asymmetric Actuator Saturation
   T. Hu, A. N. Pitsillides, and Z. Lin
   3.1. Introduction
   3.2. Preliminaries and Notation
   3.3. Null Controllable Regions
        3.3.1. General Description of Null Controllable Regions
        3.3.2. Systems with Only Real Eigenvalues
        3.3.3. Systems with Complex Eigenvalues
   3.4. Domain of Attraction under Saturated Linear State Feedback
   3.5. Semiglobal Stabilization on the Null Controllable Region
        3.5.1. Second Order Anti-stable Systems
        3.5.2. Higher Order Systems with Two Exponentially Un-
              stable Poles
   3.6. Conclusions
   References

4 Regional 1-2 Performance Synthesis
   T. Iwasaki and M. Fu                                         
   4.1.Introduction
   4.2.Analysis             
       4.2.1. A General Framework 
       4.2.2. Applications-Linear and Circle Analyses 
   4.3. Synthesis                 
       4.3.1. Problem Formulation and a Critical Observation 
       4.3.2. Proof of Theorem 4.1 
       4.3.3. Fixed-gain Control
       4.3.4.Switching Control  
   4.4. Design Examples  
       4.4.1. Switching Control with Linear Analysis 
       4.4.2. Switching Control with Circle Analysis
       4.4.3. Fixed Gain Control with Accelerated Convergence 
  4.5. Further Discussion     
  References



5 Disturbance Attenuation with Bounded Actuators: An LPV
   Approach
   F. Jabbari
   5.1. Introduction
   5.2. Preliminaries
   5.3. Parameter-independent Lyapunov Functions
   5.4. Parameter-dependent Compensators and Lyapunov Functions
   5.5. Numerical Example
   5.6. Rate Bounds
   5.7. Scheduled Controllers: State Feedback Case
       5.7.1. Obtaining the Controller
       5.7.2. Special case: Constant Q
       5.7.3. A Simple Example
   5.8. Conclusion
   References

6 LMI-Based Control of Discrete-Time Systems with Actua-
  tor Amplitude and Rate Nonlinearities
  H. Pan and V. Kapila
  6.1. Introduction
  6.2. State Feedback Control of Discrete-Time Systems with Ac-
       tuator Amplitude and Rate Nonlinearities
  6.3. State Feedback Controller Synthesis for Discrete-Time Sys-
       tems with Actuator Amplitude and Rate Nonlinearities
  6.4. Dynamic Output Feedback Control of Discrete-Time Sys-
       tems with Actuator Amplitude and Rate Nonlinearities
  6.5. Dynamic Output Feedback Controller Synthesis for Discrete-
       Time Systems with Actuator Amplitude and Rate Nonlinear-
       ities
  6.6. Illustrative Numerical Examples
  6.7. Conclusion
  References




7 Robust Control Design for Systems with Saturating Non-
   linearities
   T. Pare, H. Hindi, and J. How
   7.1. Introduction
   7.2. Problems of Local Control Design
   7.3. The Design Approach
   7.4. System Model
   7.5. Design Algorithms
       7.5.1. Stability Region (SR)
       7.5.2. Disturbance Rejection (DR)
       7.5.3. Local L2-Gain (EG)
       7.5.4. Controller Reconstruction
       7.5.5. Optimization Algorithms
   7.6. /2-Gain Control Example
   7.7. Conclusions
   7.8. Appendix
       7.8.1. Preliminaries
       7.8.2. Region of Convergence Design
       7.8.3. Local Disturbance Rejection Design
       7.8.4. Local L2-Gain Design
  References

8 Output Regulation of Linear Plants Subject to State and
  Input Constraints
  A. Saberi, A.A. Stoorvogel, G. Shi, and P. Sannuti
  8.1. Introduction
  8.2. System Model and Primary Assumptions
  8.3. A Model for Actuator Constraints
  8.4. Statements of Problems
  8.5. Taxonomy of Constraints
  8.6. Low-gain and Low-high Gain Design for Linear Systems with
       Actuators Subject to Both Amplitude and Rate Constraints
       8.6.1. Static Low-gain State Feedback
       8.6.2. A New Version of Low-gain Design
       8.6.3. A New Low-high Gain Design



       8.6.4. Scheduled Low-gain Design
   8.7. Main Results for Right-invertible Constraints
       8.7.1. Results
       8.7.2. Proofs of Theorems
   8.8. Output Regulation with Non-right-invertible Constraints
   8.9. Tracking Problem with Non-minimum Phase Constraints
   8.10. Conclusions
   References

9 Optimal Windup and Directionality Compensation in Input-
   Constrained Nonlinear Systems
   M. Soroush and P. Daoutidis
   9.1. Introduction
   9.2. Directionality and Windup
       9.2.1. Directionality
       9.2.2. Windup
       9.2.3. Organization of this Chapter
   9.3. Optimal Directionality Compensation
       9.3.1. Scope
       9.3.2. Directionality
       9.3.3. Optimal Directionality Compensation
       9.3.4. Application to Two Plants
   9.4. Windup Compensation
       9.4.1. Scope
  9.5. Nonlinear Controller Design
       9.5.1. Application to a Nonlinear Chemical Reactor
  References

10 Output Feedback Compensators for Linear Systems with
  Position and Rate Bounded Actuators
  S. Tarbouriech and G. Garcia
  10.1. Introduction
  10.2. Problem Statement
       10.2.1. Nomenclature
       10.2.2. Problem Statement



   10.3. Mathematical Preliminaries
   10.4. Control Strategy via Riccati Equations
   10.5. Control Strategy via Matrix Inequalities
   10.6. Illustrative Examples
   10.7. Concluding Remarks
   References

11 Actuator Saturation Control via Linear Parameter-Varying
  Control Methods
  F. Wu and K.M. Grigoriadis
  11.1. Introduction
  11.2. LPV System Analysis and Control Synthesis
       11.2.1. Induced 2 Norm Analysis
       11.2.2. LPV Controller Synthesis
  11.3. LPV Anti-Windup Control Design
  11.4. Application to a Flight Control Problem
       11.4.1. Single Quadratic Lyapunov Function Case
       11.4.2. Parameter-Dependent Lyapunov Function Case
  11.5. Conclusions
  References