Combining switching, over-saturation and scaling to optimise control performance in the presence of model uncertainty and input saturation (Q1614357)

The authors survey several ideas that can be used in the design of switching controllers to achieve high performance on linear real control systems having input saturation. The ideas evolve from an existing scheme known as the (piecewise-linear LQ control) PLC controller. The authors describe two alternative ways of modifying PLC controller. These modifications include the concept of allowed oversaturation and the PLC/LHG design. Both methods are aimed at forcing the control into saturation and then making best use of the available control. The authors also present a novel controller that combines the above methods. The controller has been shown to lead to performance advantages via a simulation example. A robust design is presented. In all cases the authors establish asymptotic stability of the resulting hybrid systems.