Stabilization of linear discrete-time systems with saturating controls and norm-bounded time-varying uncertainty
The authors consider an uncertain deterministic linear discrete-time system described by \[ x_{k+1} =(A+A_\Delta) x_k+(B+B_\Delta) u_k, \tag{1} \] where \(x_k\in R^n\) and \(u_k\in R^m\) are the state and control vector, respectively; \(A\), \(A_\Delta\), \(B\) and \(B_\Delta\) are matrices with compatible dimensions. The pair \((A,B)\) is assumed to be stabilizable; the matrices \(A_\Delta\) and \(B_\Delta\) are defined as \[ [A_\Delta B_\Delta] = DF(k) [E_1E_2], \tag{2} \] where the matrix \(F(k)\in {\mathcal F} \subset R^{1 \times r}\) is the parameter uncertainty and \({\mathcal F}\) is defined by \[ {\mathcal F}= \bigl\{F(k)\in R^{1 \times r}; \quad F(k)^T F(k)\leq 1\bigr\}, \tag{3} \] \(D\), \(E_1\) and \(E_2\) are constant matrices with compatible dimensions, defining the structure of the uncertainty. The control \(u_k\) is assumed to be a saturated state feedback \[ u_k= \text{sat} (Kx_k), \tag{4} \] where \(K\in R^{m \times n}\) is a feedback matrix. The authors give sufficient conditions for robust local and semi-global quadratic stabilizability of system (1). Some connections with the disturbance rejection problem are also considered. Two numerical examples are presented to illustrate the obtained results. For the entire collection see [Zbl 0868.00028].
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