Analysis of Random Reference Tracking in Systems with Saturating Actuators

Authors:	Eun Yongsoon, Xerox Corporation, United States Kabamba Pierre T., University of Michigan, United States Meerkov Semyon M., University of Michigan, United States
Topic:	2.3 Non-Linear Control Systems
Session:	Control of Nonlinear Saturating Systems
Keywords:	Reference tracking, Saturating actuators, Tracking quality indicators

Abstract

This paper develops a method for analysis of random referencetracking in feedback systems with saturating actuators. Thedevelopment is motivated by the frequency domain approach tolinear systems, where the bandwidth and resonance peak of thesensitivity function are used to predict the quality of stepreference tracking. Similarly, based on the so-called saturatingrandom sensitivity function, we introduce tracking qualityindicators and show that they can be used to determine both thequality of random reference tracking and the nature of track lossunder actuator saturation.