Output Tracking Control of PWA Systems

Author

van de Wouw, N. ; Pavlov, Alexey V. ; Pettersen, Kristin Y. ; Nijmeijer, Henk

Author_Institution

Dept. of Mech. Eng., Eindhoven Univ. of Technol.

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

2637

Lastpage

2642

Abstract

In this paper, an observer-based output-feedback control design solving the tracking problem for continuous piecewise affine (PWA) systems is proposed. The design of the dynamic controller is based on the idea of, on the one hand, rendering the system convergent by means of feedback (which makes all its solutions converge to each other) and, on the other hand, guaranteeing that the closed-loop system has a bounded solution corresponding to zero tracking error. This implies that all solutions of the closed-loop system converge to this bounded solution with zero tracking error. Using this synthesis approach, we solve the state tracking problem for general continuous PWA systems and the output tracking problem for a class of single-input-single-output PWA systems. The results are illustrated by application to mechanical systems with one-sided restoring characteristics and backlash

Keywords

control system synthesis; feedback; tracking; closed-loop system; continuous piecewise affine system; dynamic controller; observer-based output-feedback control; output tracking control; single-input-single-output system; Control design; Control systems; Error correction; Feedback; Hysteresis; Mechanical systems; Piecewise linear techniques; Relays; Stability analysis; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377028

Filename

4177041