Stability and Stabilization of Linear Systems with Saturating Actuators
It is well-known that actuator saturation is present in practically all control systems, the signal amplitude that an actuator can deliver usually being limited by physical or safety constraints. Neglect of these amplitude bounds and the consequent actuat
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Sophie Tarbouriech Germain Garcia João Manoel Gomes da Silva Jr. Isabelle Queinnec
Stability and Stabilization of Linear Systems with Saturating Actuators
Sophie Tarbouriech Laboratoire Analyse et Architecture des Systèmes (LAAS) CNRS av. du Colonel Roche 7 31077 Toulouse CX 4 France [email protected]
João Manoel Gomes da Silva Jr. Departamento de Engenharia Elétrica Universidade Federal do Rio Grande do Sul av. Osvaldo Aranha 103 90035-190 Porto Alegre Rio Grande do Sul Brazil [email protected]
Germain Garcia Laboratoire Analyse et Architecture des Systèmes (LAAS) CNRS av. du Colonel Roche 31077 Toulouse CX 4 France [email protected]
Isabelle Queinnec Laboratoire Analyse et Architecture des Systèmes (LAAS) CNRS av. du Colonel Roche 7 31077 Toulouse CX 4 France [email protected]
ISBN 978-0-85729-940-6 e-ISBN 978-0-85729-941-3 DOI 10.1007/978-0-85729-941-3 Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2011935854 © Springer-Verlag London Limited 2011 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: VTeX UAB, Lithuania Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To Isabelle, Louise, Julie, Christiane and Pierre with my tenderness Sophie Tarbouriech To Lionel, Pauline, Sophie, Maria-Belen, Maria-Consuelo and Jaime in gratitude and affection Germain Garcia To Silvia and Gabriela. For their love, support and patience during the preparation of this book João Manoel Gomes da Silva Jr. To Sophie, Philippe, Nicole, Yvon. To those who are important for me Isabelle Queinnec
Foreword
Actuator saturation presents the control system designer with a major challenge. It may cause loss in performance and in some cases unstable behaviour. Control engineers have long been aware of the need to guard against actuators hitting magnitude or rate limits and over the years a number of ad hoc methods have been developed to alleviate unwanted effects. In more recent years, researchers h
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