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Kenji Sawada,Tsuyoshi Kiyama 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers linear time-invariant continuous-time servosystems with control input saturation nonlin-earities, and proposes a design method of output feedback controllers satisfying a regional integral quadratic performance for the systems based on the generaized sector approach. For agiven servocompensator, the method assumes the output of the nonlinearities to be available for the control, and then it is an integrated design of reduced-order dynamic output feed-back and anti-wind up compensators where each of their orders is the number of available plant states less than the plant order. This paper recasts the design problem using the method as a convex optimization problem based onlinear matrixin equalities and linear matrix equatios. Furthermore, it is pointed out that the performance achievable by the full-order compensator with the same generalized plant order is exactly the same as that by the reduced-order compensator.