ACCELERATION-BOUNDED CONTROL FOR DISCRETE TIME LINEAR SYSTEMS

A method for synthesizing dynamic output feedback controllers for discrete time systems presenting actuators constrained in amplitude, rate and acceleration is proposed. The considered controller structure, composed by two saturating integrator blocks and a linear compensator, allows to deliver to the actuator input a signal inside all its bounds. Anti-windup loops in the controller are simultaneously designed and add degrees of freedom to the synthesis process, besides improving performance. Sufficient LMI conditions for such stabilizing controller existence are derived and exemplified. Optimization problems for maximizing disturbance tolerance and rejection are considered.