This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach.
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On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation
Shou-Tao Peng
Shou-Tao Peng
Associate Professor
Department of Mechanical Engineering,
e-mail: stpeng@mail.stut.edu.tw
Southern Taiwan University of Technology
, Tainan, Taiwan 710, R.O.C.
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Shou-Tao Peng
Associate Professor
Department of Mechanical Engineering,
Southern Taiwan University of Technology
, Tainan, Taiwan 710, R.O.C.e-mail: stpeng@mail.stut.edu.tw
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 034502 (8 pages)
Published Online: April 25, 2008
Article history
Received:
January 8, 2007
Revised:
November 28, 2007
Published:
April 25, 2008
Citation
Peng, S. (April 25, 2008). "On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 034502. https://doi.org/10.1115/1.2907353
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