Switching control of constrained linear systems
Given a linear dynamical discrete time system subject to input disturbance, with hard constraints on both states and controls, the paper addresses the problem of computing a control law which steers any initial state in a specified set to a target robust, controlled invariant set in minimum time, despite the disturbances. The state is assumed accessible. The disturbance vector is unknown, but it is assumed to belong to a known set at each time. All the involved sets are polyhedra. Two nonlinear controllers are proposed: the first one requires the solution of a linear programming problem at each step of time. The second requires the partition (to be computed off-line) of a nested sequence of polytopes in state space into simplices: a precomputed affine controller can be associated to each simplex, so that a supervisor selects the current controller to be the one corresponding to the simplex in which the current state resides. In my opinion the paper is a bit lacking in references: in fact to the best of my knowledge, it seems that some papers in the literature solved similar problems, with techniques akin to the one proposed here (see in particular \textit{P. O. Gutman} and \textit{M. Cwikel} [IEEE Trans. Autom. Control AC-31, 373-376 (1986; Zbl 0589.93048)] and \textit{F. Blanchini} [IEEE Trans. Autom. Control 39, 428-433 (1994; Zbl 0800.93754)]). In the former paper the control at vertices was used, which leads to a linear variable-structure control. In the latter, the technique of decomposing a given set into simplices was adopted. For the entire collection see [Zbl 0864.00080].
- Nonlinear controllers for the constrained stabilization of uncertain dynamic systems
- A control problem for affine dynamical systems on a full-dimensional polytope.
- scientific article; zbMATH DE number 4101028
- Necessary and sufficient conditions for reachability on a simplex
- Enlargement of polytopic terminal region in NMPC by interpolation and partial invariance.
- Nonlinear contractive model predictive control via polytopic robust controllable sets
- scientific article; zbMATH DE number 2159034
- On the geometry of predictive control with nonlinear constraints
- Robust pole assignment via stable polytopes of reflection vectors
- Controlled invariance and feedback laws
- Robust time-optimal control of constrained linear systems
- Switching in systems and control
- Switched LQG control for linear systems with multiple sensing methods
- Constrained piecewise linear systems with disturbances: controller design \textit{via} convex invariant sets
- A switching system approach to actuator assignment with limited channels
- Constrained control of switching systems: a positive invariant approach
- scientific article; zbMATH DE number 4054408 (Why is no real title available?)
- Linear-quadratic switching control with switching cost
- Lyapunov-Krasovskiĭ functionals and application to input delay compensation for linear time-invariant systems
- Stabilization and reference tracking for constrained switching systems: A predictive control approach
- scientific article; zbMATH DE number 2117025 (Why is no real title available?)
- Model Order Reduction of Switched Linear Systems with Constrained Switching
- Subspace confinement for switched linear systems
- Robust intersample crossing of target sets with mixed‐integer linear programming
- Predictor-based sampled-data exponential stabilization through continuous-discrete observers
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