Observer-Based Tracker for Analog Systems with Saturating Actuators and State Constraints Using Digital Redesign and a Weighted Switching Strategy

Abstract

In this paper, we propose a new dual-rate, observer-based control scheme utilizing digital redesign and a weighted switching strategy for cascaded systems with saturating actuators and state constraints. The weighted switching approach, which uses an evolutionary programming optimal search technique, improves the generally poor transition response caused by nonlinear constraints on saturating actuators and state constraints. An inner loop state compensator is provided to correct the windup effects on the actuator. The designed scheme can easily be implemented using digital processors and enables us to improve the performance of cascaded systems with saturating actuators and state constraints. An illustrative example is presented to demonstrate the effectiveness of the proposed methodology.