Abstract
This paper solves some synthesis problems for a class of linear systems, to enforce the closed-loop states to take nonnegative values whenever the initial conditions are nonnegative. In particular the following three problems are studied: the synthesis of state-feedback controllers for positive closed-loop systems, including the requirement of positiveness for the controller, the extension to uncertain plants and the presence of control signals that are positively bounded. The provided conditions are solvable in terms of Linear Programming Problems.
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