Abstract
This paper presents a variable structure compensation framework for control systems subject to both rate and amplitude constraints. A fixed structure compensation framework, equivalent to a class of control synthesis, is first presented for systems subject to rate and amplitude constraints. Variable structure compensators are then obtained by pooling the fixed structure ones. The important issues on the choice of switch timing, stability of the compensated system, and selection of the variable structure compensators, are discussed and design guidelines are presented. A simulated example illustrates the achievable results, which are not easily obtainable from fixed structure compensators.
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