Toward less conservative designs of multimode controllers for systems with state and control constraints

Multimode controllers are an effective stabilization tool for linear and nonlinear systems under state and control constraints. The multimode controller switches between a family of controllers or a family of set-points in a way that guarantees satisfaction of state and control constraints without sacrificing the ultimate performance of the closed loop system. When unmeasured disturbances affect the operation of the system, the worst-case scenario approach to their treatment may result in unnecessary degree of conservatism in the multimode controller operation. This paper focuses on ways to reduce the conservatism by incorporating additional information about the disturbance such as rate bounds or stochastic description