Deadbeat Control for Linear Systems with Input Constraints

Dane BAANG  Dongkyoung CHWA  

Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E92-A   No.12   pp.3390-3393
Publication Date: 2009/12/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E92.A.3390
Print ISSN: 0916-8508
Type of Manuscript: LETTER
Category: Systems and Control
Keyword: 
linear matrix inequalities,  deadbeat control,  linear systems,  input-constraint,  step delay,  

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Summary: 
A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.