STATE AND OUTPUT FEEDBACK DESIGN FOR ROBUSTTRACKING OF LINEAR SYSTEMS WITH RATE LIMITEDACTUATORS

摘要

A design technique (Lin et al., 1997b) recently proposed for stabilization of a linear system withrate-limited actuators is utilized to design feedback laws that cause the system output to track adesired command signal. This design technique combines two design techniques recently developedfor linear systems with position limited actuators, piecewise-linear LQ control (Wredenhagen andBelanger, 1994) and low-and-high gain feedback (Saberi et al., 1996), and hence takes advantage ofboth design techniques, while avoiding their disadvantages. In the case that only the output isavailable for feedback, the performance of the state feedback law is preserved by the use of a fastobserver. An open-loop exponentially unstable fighter aircraft is used to demonstrate the effectivenessof the proposed control design method.