On Controllable Abundance Of Saturated-input Linear Discrete Systems

TL;DR

This paper introduces the concept of controllable abundance for linear discrete systems with saturated inputs, using volume-based measures to analyze and optimize control ability, efficiency, and diversity of control laws.

Contribution

It proposes a novel measure called controllable abundance based on volume computations, applicable to actuator placement and control optimization in saturated-input systems.

Findings

Theorems for volume computation of polyhedra with finite-interval parameters.

Effective application of controllable abundance in actuator placement.

Numerical experiments validate the method's effectiveness.

Abstract

Several theorems on the volume computing of the polyhedron spanned by a n-dimensional vector set with the finite-interval parameters are presented and proved firstly, and then are used in the analysis of the controllable regions of the linear discrete time-invariant systems with saturated inputs. A new concept and continuous measure on the control ability, control efficiency of the input variables, and the diversity of the control laws, named as the controllable abundance, is proposed based on the volume computing of the regions and is applied to the actuator placing and configuring problems, the optimizing problems of dynamics and kinematics of the controlled plants, etc.. The numerical experiments show the effectiveness of the new concept and methods for investigating and optimizing the control ability and efficiency.