Tracking with Bounded Actuators: Scheduled controllers
Abstract
We extend a class of scheduled controllers, that were originallydeveloped to address actuator saturation in the disturbanceattenuation problem, to the problem of tracking of generallyunknown signals. The main assumption is that some (possiblyconservative) bounds be known for peak magnitude and rate of thetracking signal. Both state feedback for and static outputfeedback controllers are presented, though the choice of theapproach to obtain the latter is left to the user. Thesolvability conditions and effectiveness are shown through anexample.
