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A constrained tracking control algorithm for linear systems based on a spline-type parameter-dependent Lyapunov function
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DOI：10.1002/rnc.3183.png)
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Abstract
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In this paper, we propose a design method of a tracking control law for discrete-time linear systems with actuator saturation. The feedback gain of the control law is actively changed online so that the control performance is improved based on the information of the state variable and the reference signal. The control law is designed with considering the rate of convergence of the tracking error. The design condition of the control law is derived as polynomially parameter-dependent matrix inequalities, and a spline-type parameter-dependent Lyapunov function and a convex polytope are used to reduce the design condition to a finite number of LMIs. Three numerical examples are provided to illustrate effectiveness of the method. Copyright (c) 2014 John Wiley & Sons, Ltd.
Keywords:
input saturation
gain-scheduling
spline-type parameter-dependent Lyapunov function
online optimization
polynomially parameter-dependent matrix inequality
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