Time optimal control for asymptotic tracking of linear systems with input saturation

Abstract

The objective of the research described in this thesis is to investigate some properties for a class of linear systems with input saturation, and design composite nonlinear feedback controllers. We have explored the problem of asymptotic time optimal tracking for a class of linear system with actuator nonlinearities. A formula on the optimal settling time is given and the corresponding composite nonlinear feedback control law can serve as a control law to approximate the optimal settling time. We have extended the composite nonlinear feedback control law from single-input-single-output systems to multi-input-multi-output systems, from continuous systems to discrete time systems. Last, we have probed into the property of disturbance rejection of the composite nonlinear feedback control. In the thesis, experiments and illustrative simulations are also presented.