文章基本信息

标题：Integral Control of Stable MIMO Nonlinear Systems with Input Constraints ⁎
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作者：Pietro Lorenzetti ; George Weiss
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：14
页码：209-214
DOI：10.1016/j.ifacol.2021.10.354
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a novel anti-windup integral controller for a stable multi-input multi-output nonlinear plant. We use tools from projected dynamical systems theory to force the controller state (and thus its output) to remain in a “permitted” (compact and convex) region, regardless of the plant behaviour. Then, using results from singular perturbation theory, we find a sufficient condition on the controller gain ensuring, under suitable monotonicity assumptions on the plant, closed-loop stability and reference tracking for a feasible set of constant references.
关键词：Keywordsnonlinear systemsintegral controlsingular perturbation methodwindupprojected dynamical systems