| GLOBAL PREDICTIVE PI-CONTROL OF ANCBI PLANTS UNDER POSITIONAL AND RATE ACTUATOR SATURATIONS David Angeli (2007) | |||||||||||||||||
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| : A receding-horizon strategy is presented for set-point tracking and global stabilization of ANCBI plants in the presence of actuators with position and rate saturation constraints. The algorithm, providing an integral action, is able to handle any piecewise constant disturbance acting on the system output and state. Keywords: Predictive control, PI controllers, Constraint satisfaction 1. INTRODUCTION Dynamic system control in the presence of input saturations and/or state-related constraints has been a significant topic of automatic control since its origin. Despite the efforts and the various approaches, only in the beginning of the nineties the class of dynamical linear systems which can be controlled to zero with arbitrarily small controls has been characterized, (Sussmann et al., 1994) . These are the so called ANCBI (AsymptoticallyNull -Controllable-with-Bounded-Inputs) systems. While positional actuator saturation has been addressed in the recent literature, e.g. see (Zhe... | |||||||||||||||||
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