Fast two-degree-of-freedom tracking controller design for linear systems subject to actuator saturation and disturbance

Abstract

This article presents a novel approach for fast setpoint tracking control based on two-degree-of-freedom structure for linear system subject to input amplitude and rate saturation constraints in the presence of the disturbance. Short settling times and a better control performance are achieved by the proposed approach. Furthermore, the actuating variable range is adaptively adjusted for the reference behavior and disturbance behavior. The set point tracking controller in feedforward control can be derived from a controller stabilizing the origin with an additional associated domian of attraction. A existing convex optimization procedure for the controller synthesis based in linear matrix inequalities (LMIs) can be applied by introducing the auxiliary conditions.