It also presents some related results on systems with state saturation or sensor saturation.".

Compiling the most significant advances from nearly a decade of research, this reference compares and evaluates a wide variety of techniques for the design, analysis, and implementation of control methodologies for systems with actuator saturation. The book presents efficient computational algorithms and new control paradigms for application in the

This monograph details basic concepts and tools fundamental for the analysis and synthesis of linear systems subject to actuator saturation and developments in recent research. The authors use a state-space approach and focus on stability analysis and the synthesis of stabilizing control laws in both local and global contexts. Different methods of modeling the saturation and behavior of the nonlinear closed-loop system are given special attention. Various kinds of Lyapunov functions are considered to present different stability conditions. Results arising from uncertain systems and treating performance in the presence of saturation are given. The text proposes methods and algorithms, based on the use of linear programming and linear matrix inequalities, for computing estimates of the basin of attraction and for designing control systems accounting for the control bounds and the possibility of saturation. They can be easily implemented with mathematical software packages.

This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teel's modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems. Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation Takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems Presents algorithms as linear matrix inequalities that can be readily solved with widely available software Explains mathematical concepts that motivate synthesis algorithms Uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems Traces the history of anti-windup research through an extensive annotated bibliography

Actuator saturation is probably the most frequent nonlinearity encountered in control applications. Input saturation leads to controller windup, removable by structural modification during compensator realization and plant windup which calls for additional dynamics. This book presents solutions to the windup prevention problem for stable and unstable single-input-single-output and multiple-input-multiple-output (MIMO) systems.

The sliding mode control paradigm has become a mature technique for the design of robust controllers for a wide class of systems including nonlinear, uncertain and time-delayed systems. This book is a collection of plenary and invited talks delivered at the 12th IEEE International Workshop on Variable Structure System held at the Indian Institute of Technology, Mumbai, India in January 2012. After the workshop, these researchers were invited to develop book chapters for this edited collection in order to reflect the latest results and open research questions in the area. The contributed chapters have been organized by the editors to reflect the various themes of sliding mode control which are the current areas of theoretical research and applications focus; namely articulation of the fundamental underpinning theory of the sliding mode design paradigm, sliding modes for decentralized system representations, control of time-delay systems, the higher order sliding mode concept, results applicable to nonlinear and underactuated systems, sliding mode observers, discrete sliding mode control together with cutting edge research contributions in the application of the sliding mode concept to real world problems. This book provides the reader with a clear and complete picture of the current trends in Variable Structure Systems and Sliding Mode Control Theory.

Saturation nonlinearities are ubiquitous in engineering systems. In control systems, every physical actuator or sensor is subject to saturation owing to its maximum and minimum limits. A digital filter is subject to saturation if it is implemented in a finite word length format. Saturation nonlinearities are also purposely introduced into engineering systems such as control sys tems and neural network systems. Regardless of how saturation arises, the analysis and design of a system that contains saturation nonlinearities is an important problem. Not only is this problem theoretically challenging, but it is also practically imperative. This book intends to study control systems with actuator saturation in a systematic way. It will also present some related results on systems with state saturation or sensor saturation. Roughly speaking, there are two strategies for dealing with actuator sat uration. The first strategy is to neglect the saturation in the first stage of the control design process, and then to add some problem-specific schemes to deal with the adverse effects caused by saturation. These schemes, known as anti-windup schemes, are typically introduced using ad hoc modifications and extensive simulations. The basic idea behind these schemes is to intro duce additional feedbacks in such a way that the actuator stays properly within its limits. Most of these schemes lead to improved performance but poorly understood stability properties.

Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors' cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.

An excellent introduction to feedback control system design, this book offers a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems. Its explorations of recent developments in the field emphasize the relationship of new procedures to classical control theory, with a focus on single input and output systems that keeps concepts accessible to students with limited backgrounds. The text is geared toward a single-semester senior course or a graduate-level class for students of electrical engineering. The opening chapters constitute a basic treatment of feedback design. Topics include a detailed formulation of the control design program, the fundamental issue of performance/stability robustness tradeoff, and the graphical design technique of loopshaping. Subsequent chapters extend the discussion of the loopshaping technique and connect it with notions of optimality. Concluding chapters examine controller design via optimization, offering a mathematical approach that is useful for multivariable systems.

The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory