ADAPTIVE POLE-PLACEMENT CONTROL WITH INPUT SATURATIONS

摘要

This paper presents an adaptive pole-placement technique for SISO linear time-invariant stable systems with integrators subject to saturations on both the control variable and its increment. First, an antiwindup scheme is presented and BIBO stability is proven in the non adaptive case. In an adaptive context, BIBO stability is achieved by guaranteeing asymptotic convergence of the estimated parameters to their true values whenever saturations are likely to occurr. This is achieved by injecting a persistently exciting signal of arbitrarily small amplitude and automatically generated by the algorithm. Simulation results are reported to assess the performance of the method.