State Value Compensation of Controller for Constrained Systems

摘要

State value compensation of dynamic controllers for constrained linear systems is discussed. The relation between changes in a partial state and the resulting responses is characterized by introducing a singular value decomposition (SVD). By employing the SVD, a partial state compensation law which satisfies the system constraints is derived. The advantage of the proposed method is illustrated with numerical examples. The obtained result is also applied to an inverted pendulum system for experimental evaluation.