Time Sub-Optimal Control of Triple Integrator Applied to Real Three-Tank Hydraulic System
Control of nonlinear systems with input constraints is an interesting topic of control theory that must be solve adequately because of the presence of constraints in almost each real system. There are many authors and several techniques trying to solve this problem (anti-windup structures, positive invariant sets, variable structure systems, global, semi-global and local stabilization of systems with constraints, optimization problems solved by linear matrix inequalities).
This paper shows a different approach that originates in the time optimal control and is improved by decreasing the sensitivity to uncertain model parameters that is balanced by sub-optimality. The design of constrained controller is carried out on the triple integrator system and this is later applied to the nonlinear three-tank hydraulic system after its exact linearization.
KeywordsInput constraints Time sub-optimal control Nonlinear systems Exact linearization Computer algebra system
This work has been partially supported by the grants VEGA 1/0937/14 and APVV-0343-12.
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