Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers

Richard Seeber; Jaime A. Moreno

doi:10.1016/j.ifacol.2020.12.1150

Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers

Richard Seeber, Jaime A. Moreno

Institute of Automation and Control (4430)

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

The problem of extending an existing state-feedback controller by an integrator is considered. A structural insight into the design of such controllers is presented for the linear case, which allows to preserve the performance of the given controller in a certain sense. Using this insight, a second order homogeneous state feedback controller with discontinuous integral action is proposed, which can reject arbitrary slope bounded, i.e., Lipschitz continuous, perturbations. By means of Lyapunov methods, stability conditions for the closed loop system and a bound for its finite convergence time are derived. Numerical simulations illustrate the results and provide further insight into the tuning of the proposed approach.

Original language	English
Title of host publication	IFAC-PapersOnLine: Proceedings of the 21st IFAC World Congress
Pages	5129-5134
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.1150
Publication status	Published - 2020
Event	21st IFAC World Congress - Virtuell, Germany Duration: 12 Jul 2020 → 17 Jul 2020

Conference

Conference	21st IFAC World Congress
Abbreviated title	IFAC 2020
Country/Territory	Germany
City	Virtuell
Period	12/07/20 → 17/07/20

Keywords

State feedback
Weighted homogeneity
Integral Control
Finite-time convergence

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10.1016/j.ifacol.2020.12.1150Licence: CC BY-NC-ND 4.0

Seeber 2020 - Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback ControllersAccepted author manuscript, 751 KBLicence: CC BY-NC-ND 4.0

1 Talk at conference or symposium

Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers
Richard Seeber (Speaker)
12 Jul 2020 → 17 Jul 2020
Activity: Talk or presentation › Talk at conference or symposium › Science to science

Cite this

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title = "Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers",

abstract = "The problem of extending an existing state-feedback controller by an integrator is considered. A structural insight into the design of such controllers is presented for the linear case, which allows to preserve the performance of the given controller in a certain sense. Using this insight, a second order homogeneous state feedback controller with discontinuous integral action is proposed, which can reject arbitrary slope bounded, i.e., Lipschitz continuous, perturbations. By means of Lyapunov methods, stability conditions for the closed loop system and a bound for its finite convergence time are derived. Numerical simulations illustrate the results and provide further insight into the tuning of the proposed approach.",

keywords = "State feedback, Weighted homogeneity, Integral Control, Finite-time convergence",

author = "Richard Seeber and Moreno, {Jaime A.}",

year = "2020",

doi = "10.1016/j.ifacol.2020.12.1150",

language = "English",

pages = "5129--5134",

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AU - Moreno, Jaime A.

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N2 - The problem of extending an existing state-feedback controller by an integrator is considered. A structural insight into the design of such controllers is presented for the linear case, which allows to preserve the performance of the given controller in a certain sense. Using this insight, a second order homogeneous state feedback controller with discontinuous integral action is proposed, which can reject arbitrary slope bounded, i.e., Lipschitz continuous, perturbations. By means of Lyapunov methods, stability conditions for the closed loop system and a bound for its finite convergence time are derived. Numerical simulations illustrate the results and provide further insight into the tuning of the proposed approach.

AB - The problem of extending an existing state-feedback controller by an integrator is considered. A structural insight into the design of such controllers is presented for the linear case, which allows to preserve the performance of the given controller in a certain sense. Using this insight, a second order homogeneous state feedback controller with discontinuous integral action is proposed, which can reject arbitrary slope bounded, i.e., Lipschitz continuous, perturbations. By means of Lyapunov methods, stability conditions for the closed loop system and a bound for its finite convergence time are derived. Numerical simulations illustrate the results and provide further insight into the tuning of the proposed approach.

KW - State feedback

KW - Weighted homogeneity

KW - Integral Control

KW - Finite-time convergence

U2 - 10.1016/j.ifacol.2020.12.1150

DO - 10.1016/j.ifacol.2020.12.1150

M3 - Conference paper

SP - 5129

EP - 5134

BT - IFAC-PapersOnLine: Proceedings of the 21st IFAC World Congress

T2 - 21st IFAC World Congress

Y2 - 12 July 2020 through 17 July 2020

ER -

Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers

Abstract

Conference

Keywords

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Performance Preserving Integral Extension of Linear and Homogeneous State-Feedback Controllers

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