Design of Polynomial Control Laws for Polynomial Systems Subject to Actuator Saturation

Author

Valmorbida, G. ; Tarbouriech, S. ; Garcia, Gaetan

Author_Institution

Dept. of Eng. Sci., Univ. of Oxford, Oxford, UK

Volume

58

Issue

7

fYear

2013

fDate

Jul-13

Firstpage

1758

Lastpage

1770

Abstract

This paper presents results for the design of polynomial control laws for polynomial systems in global and regional contexts. The proposed stabilization conditions are based on inequalities which are affine in both the Lyapunov function coefficients and the controller gains. Input saturations are incorporated to the stability analysis and the design of polynomial controllers using a generalization of a sector condition. The polynomial constraints of the stability/stabilization conditions are relaxed to be sum-of-squares and formulated as semi-definite programs.

Keywords

Lyapunov methods; actuators; control system analysis; control system synthesis; mathematical programming; polynomials; stability; Lyapunov function coefficient; actuator saturation; controller gain; input saturation; polynomial constraint; polynomial control law design; polynomial system; semidefinite program; stability analysis; stabilization condition; Linear matrix inequalities; Lyapunov methods; Numerical stability; Polynomials; Stability analysis; Symmetric matrices; Vectors; Input-saturation; Lyapunov method; polynomial systems; sum-of-squares;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2013.2248256

Filename

6509432