Feedback Control of Dynamical Systems with Given Restrictions on Output Signal

TL;DR

This paper introduces a new control method for dynamical systems that guarantees output signals stay within specified limits by transforming the problem into an input-to-state stability analysis of an extended system.

Contribution

It proposes a novel coordinate transformation approach enabling control of systems with output restrictions, applicable to linear, nonlinear, and high-relative-degree systems.

Findings

Control laws successfully enforce output restrictions in simulations.

Method handles parametric uncertainties and external disturbances.

Theoretical results are validated through simulation examples.

Abstract

A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given restrictions on an output variable can be performed as the problem of the input-to-state stability analysis of a new extended system without restrictions. The new control laws for linear plants, systems with sector nonlinearity and systems with an arbitrary relative degree are proposed. Examples of change of coordinates are given, and they are utilized to design the control algorithms. The simulations confirm theoretical results and illustrate the effectiveness of the proposed method in the presence of parametric uncertainty and external disturbances.