Robust control for uncertain linear system subject to input saturation. (English) Zbl 1463.93060
Summary: A robust control scheme using composite nonlinear feedback (CNF) technology is proposed to improve tracking control performance for the uncertain linear system with input saturation and unknown external disturbances. A disturbance observer is presented to estimate the unknown disturbance generated by a linear exogenous system. The designed gain matrix of the disturbance observer is determined by solving linear matrix inequalities (LMIs). Based on the output of the designed disturbance observer, a robust CNF controller including a linear feedback control item and a nonlinear item is developed to follow the desired tracking signals. The linear feedback controller is designed using LMIs and the stability of the closed-loop system is proved via rigorous Lyapunov analysis. Finally, the extensive simulation results are presented to illustrate the effectiveness of the proposed control scheme.
MSC:
| 93B35 | Sensitivity (robustness) |
| 93B52 | Feedback control |
| 93C41 | Control/observation systems with incomplete information |
| 93C05 | Linear systems in control theory |
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