Utilization of Control Effort Constraints in Linear Controller Design

Constraints on control effort, although important in control system performance, are difficult to incorporate into standard procedures for controller design. A design procedure which accounts for such constraints is developed by requiring that the control system utilize the maximum energy delivering capability of the final control elements under some specified test conditions (e.g., maximum step reference input). Results using this approach are available for low-order single-input single-output controlled systems from previous studies. This paper presents additional results for certain classes of multi-input multi-output systems where the number of inputs is equal to the number of states. Both state variable feedback control for regulation, and integral plus state variable feedback control for tracking are considered and illustrated with an example problem.