Abstract
This paper presents an offset-free global tracking control algorithm for the input-constrained plants modeled as controllable and open-loop strictly stable linear time invariant (LTI) systems. The contribution of this study is two-fold: First, a global tracking control law is devised in such a way that it not only leads to offset-free reference tracking but also handles the input constraints using the invariance property of a projection operator embedded in the proposed disturbance observer (DOB). Second, the offset-free tracking property is guaranteed against uncertainties caused by plant-model mismatch using the DOB’s integral action for the state estimation error. Simulation results are given in order to demonstrate the effectiveness of the proposed method by applying it to a DC/DC buck converter.
Highlights
Stabilization of dynamic systems is one of main objectives of feedback control design, output reference tracking is much more important in practice
The objective of this paper is to develop a disturbance observer (DOB) based feedback control scheme for offset-free output reference tracking of stable linear systems with input constraints and model uncertainties
In order to design a robust feedback control scheme for reference tracking of stable linear systems with input constraints and model uncertainties, we propose a feedback control equipped with a DOB
Summary
Stabilization of dynamic systems is one of main objectives of feedback control design, output reference tracking is much more important in practice. The objective of this paper is to develop a disturbance observer (DOB) based feedback control scheme for offset-free output reference tracking of stable linear systems with input constraints and model uncertainties. In order to design a robust feedback control scheme for reference tracking of stable linear systems with input constraints and model uncertainties, we propose a feedback control equipped with a DOB. (a) the proposed control scheme can be implemented without heavy computational power, the input constraints are satisfied; (b) in terms of stability, the closed loop system by the proposed control results in constrained global asymptotic tracking by restricting the initial conditions of the DOB; and (c) offset-free output tracking is achieved with an improved disturbance rejection performance, even for systems with model uncertainties owing to the proposed DOB. In order to demonstrate performance of the proposed control, the simulation study is done for reference tracking of a DC/DC buck converter, despite the input constraints and the load variations
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