Control of state-constrained linear dynamical systems: Anti-reset windup approach

Abstract

An alternative controller design method for state-constrained control systems is presented, where the concept of the anti-reset windup (ARW) strategies is used. The proposed controller design procedure is composed of two steps. First, a linear controller is designed to show a desirable nominal performance by ignoring state constraints. Then, an additional compensator is designed to mitigate the adverse effects due to state constraints. The paper focuses on the effective design method of the additional compensator. By minimising a reasonable performance index, the proposed compensator is expressed explicitly in plant and controller parameters. The resulting dynamics of the compensated controller exhibits the dominant part of linear closed-loop systems, which can be seen from the singular perturbation model reduction theory. The proposed method guarantees the total stability of overall resulting systems if linear controllers were constructed to meet certain conditions.