4.6 Article

Bounded Integral Controller With Limited Control Power for Nonlinear Multiple-Input Multiple-Output Systems

期刊

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2020.2989691

关键词

Bounded integral controller (BIC); limited control power; multiple-input multiple-output (MIMO); sum-of-squares constraint; time-invariant input weights; time-varying input weights

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A bounded integral controller (BIC) with limited control power is proposed for a class of nonlinear MIMO systems, ensuring that both control inputs and time-varying variables are dynamically constrained within a designed control circle. The BIC inherits traditional integral controller properties to eliminate tracking errors and achieve disturbance rejections, with guaranteed limited control power independently of plant information and system states.
In this brief, a bounded integral controller (BIC) with limited control power is proposed for a class of nonlinear multiple-input multiple-output (MIMO) systems. The sum-of-squares constraint on the control inputs with time-varying weights is studied and handled through the BIC design, which guarantees that both the control inputs and an auxiliary time-varying variable are dynamically constrained on a designed control circle. The BIC inherits the properties of the traditional integral controller to eliminate tracking errors and achieve disturbance rejections. Even under time-varying input weights, the BIC guarantees limited control power independently of both plant information and system states. The input-to-state (practical) stability of the closed-loop system is established. To demonstrate the effectiveness of the proposed method, experimental validations are conducted for two systems: a system with multiple dc motors subject to a power limit with time-varying input weights and a permanent magnet synchronous motor system subject to a voltage limit with time-invariant input weights.

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