Skip to main content
SpringerLink
Log in

Robust tracking controller for multivariable delayed systems with input saturation via composite nonlinear feedback

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

In this paper, the composite nonlinear feedback (CNF) method for robust tracking control of multivariable time-delayed systems with input saturation is proposed. By constructing an appropriate Lyapunov–Krasovskii functional and using the linear matrix inequality (LMI) technique, the asymptotic tracking criteria is derived in terms of LMI, which can be solved numerically using the LMI® toolbox of MATLAB. Unlike the previous robust tracking controller design methods, which need restrictive assumptions, less conservative design conditions are obtained using this approach. The proposed CNF-based robust tracking controller improves the transient performance and steady state accuracy simultaneously. Simulation results are included to demonstrate the effectiveness of the proposed method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. Tan, H., Shu, S., Lin, F.: An optimal control approach to robust tracking of linear systems. Int. J. Control 82, 525–540 (2009)

    Article  MATH  MathSciNet  Google Scholar 

  2. Wu, H.: Adaptive robust control of uncertain dynamical systems with multiple time-varying delays. IET Control Theory Appl. 4, 1775–1784 (2010)

    Article  MathSciNet  Google Scholar 

  3. Pai, M.C.: Design of adaptive sliding mode controller for robust tracking and model following. J. Franklin Inst. 347, 1837–1849 (2010)

    Article  MATH  MathSciNet  Google Scholar 

  4. Oucheriah, S.: Robust tracking and model following of uncertain dynamic delay systems by memoryless linear controllers. IEEE Trans. Autom. Control 44, 1473–1477 (1999)

    Article  MATH  MathSciNet  Google Scholar 

  5. Ni, M.L., Li, G.: A direct approach to the design of robust tracking controllers for uncertain delay systems. Asian J. Control 8, 412–416 (2006)

    Article  MathSciNet  Google Scholar 

  6. Yang, C., Sun, J., Ma, X.: Stabilization bound of singularly perturbed systems subject to actuator saturation. Automatica 49, 457–462 (2013)

    Article  MATH  MathSciNet  Google Scholar 

  7. Mobayen, S., Majd, V.J., Sojoodi, M.: An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems. Math. Comput. Simul. 85, 1–10 (2012)

    Article  MATH  MathSciNet  Google Scholar 

  8. Chen, B.M., Lee, T.H., Peng, K., Venkataramanan, V.: Composite nonlinear feedback control for linear systems with input saturation: theory and an application. IEEE Trans. Autom. Control 48, 427–439 (2003)

    Article  MathSciNet  Google Scholar 

  9. He, Y., Chen, B.M., Wu, C.: Composite nonlinear control with state and measurement feedback for general multivariable systems with input saturation. Syst. Control Lett. 54, 455–469 (2005)

    Article  MATH  MathSciNet  Google Scholar 

  10. Lan, W., Thum, C.K., Chen, B.M.: A hard-disk-drive servo system design using composite nonlinear feedback control with optimal nonlinear gain tuning methods. IEEE Trans. Ind. Electron. 57, 1735–1745 (2010)

    Article  Google Scholar 

  11. Montal, S., Mahanta, C.: Composite nonlinear feedback based discrete integral sliding mode controller for uncertain systems. Commun. Nonlinear Sci. Numer. Simul. 17, 1320–1331 (2011)

    Article  Google Scholar 

  12. Peng, K., Chen, B.M., Cheng, G., Lee, T.H.: Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control. IEEE Trans. Control Syst. Technol. 13, 708–721 (2005)

    Article  Google Scholar 

  13. Shin, H.B., Park, J.G.: Anti-windup PID controller with integral state predictor for variable-speed motor drives. IEEE Trans. Ind. Electron. 59, 1509–1516 (2012)

    Article  Google Scholar 

  14. Cheng, G., Peng, K.: Robust composite nonlinear feedback control with application to a servo positioning system. IEEE Trans. Ind. Electron. 54, 1132–1140 (2007)

    Article  Google Scholar 

  15. Hopp, T.H., Schmitendorf, W.E.: Design of a linear controller for robust tracking and model following. Trans. Am. Soc. Mech. Eng. 112, 552–558 (1990)

    Google Scholar 

  16. Pai, M.C.: Robust tracking and model following of uncertain dynamic systems via discrete-time integral sliding mode control. Int. J. Control. Autom. Syst. 7, 381–387 (2009)

    Article  Google Scholar 

  17. Lin, D., Lan, W., Li, M.: Composite nonlinear feedback control for linear singular systems with input saturation. Syst. Control Lett. 60, 825–831 (2011)

    Article  MATH  MathSciNet  Google Scholar 

  18. Tarbouriech, S., Gomes, J.M., Silve, J.: Synthesis of controllers for continuous-time delay systems with saturating controls via LMI’s. IEEE Trans. Autom. Control 45, 105–111 (2000)

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, University of Zanjan, Zanjan, Iran

    Saleh Mobayen

Authors
  1. Saleh Mobayen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Saleh Mobayen.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Mobayen, S. Robust tracking controller for multivariable delayed systems with input saturation via composite nonlinear feedback. Nonlinear Dyn 76, 827–838 (2014). https://doi.org/10.1007/s11071-013-1172-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-013-1172-5

Keywords

Search

Navigation