Gain scheduled constrained controller for SISO plants

Abstract

The paper considers design and tuning of simple constrained controllers for plants with dominant 2nd order dynamics. They represent hybrid solutions with dynamics ranging from the relay minimum time systems to linear pole assignment ones. There understanding requires just basic knowledge of the 2nd order trajectories patterns. In contrast to the other known solutions the controllers derived are appropriate also for extremely fast application and easy to tune by a procedure that generalizes the well-known method by Ziegler and Nichols.