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Simple Interpolating Control

Abstract : We present a new simple approach to extend the admissible region of a saturated control law for discrete-time linear systems under state and input constraints. The approach is based on the interpolation of a given, performance driven, control law and a low-gain controller. The latter is designed such that its admissible set has maximum volume. The interpolation does not require on-line numerical optimization, and an analytical formula for the controller is given. Several numerical examples are presented to illustrate the control technique.
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Submitted on : Tuesday, December 11, 2018 - 5:29:57 PM
Last modification on : Tuesday, May 21, 2019 - 2:22:03 PM
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Pedro Mercader, Daniel Rubin, Hoai-Nam Nguyen, Alberto Bemporad, Per-Olof Gutman. Simple Interpolating Control. IFAC-PapersOnLine, Elsevier, 2018, 51 (25), pp.42-47. ⟨10.1016/j.ifacol.2018.11.079⟩. ⟨hal-01951950⟩

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