Title :
Non-fragile state-feedback control of uncertain piecewise-affine slab systems with input constraints: a convex optimisation approach
Author :
Dadkhah, Navid ; Rodrigues, Luis
Author_Institution :
Dept. of Aerosp. Eng. & Mech., Univ. of Minnesota, Minneapolis, MN, USA
Abstract :
The main contribution of this work is to propose a design technique for state-feedback control of continuous-time piecewise-affine (PWA) systems that is robust not only to the system uncertainties, but also to variations of the controller gains. More specifically, this study presents sufficient conditions to synthesise a robust non-fragile PWA controller that exponentially stabilises the closed-loop equilibrium point. Furthermore, these conditions are cast as an optimisation problem subject to a set of linear matrix inequalities (LMIs), which can then be solved efficiently. In addition, a set of LMI conditions are derived to ensure that the control input will always meet a pre-assigned upper bound. Simulation results demonstrate the effectiveness of the proposed approach.
Keywords :
asymptotic stability; closed loop systems; continuous time systems; control system synthesis; convex programming; linear matrix inequalities; optimisation; robust control; state feedback; uncertain systems; LMI conditions; PWA systems; closed-loop equilibrium point; continuous-time piecewise-affine systems; control input; controller gains; convex optimisation; exponential stability; input constraints; linear matrix inequalities; nonfragile state-feedback control; optimisation problem; robust nonfragile PWA controller synthesis; sufficient conditions; system uncertainties; uncertain piecewise-affine slab systems;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2013.0202