Constrained control of continuous-time minimum-phase systems. Global output reference tracking results

Fouad Giri (1) , Jean-Baptiste Gning (1) , Fatima Zara Chaoui (1) , E. Chater (1)

1 Equipe Automatique - Laboratoire GREYC - UMR6072

Minimum phase systems are the only systems that allow (in disturbance-free unconstrained case) the achievement of perfect tracking in presence of arbitrary reference signais. The question is whether this still hoIds when the control input is subject to input saturation constraint. Surprisingly, most works on global output tracking in presence of input saturation focused on nonminimum phase systems. Then, perfect tracking is only achievable for constant references. In this paper, it is shown that more powerful tracking results are achievable for minimum phase systems. Specifically, perfect tracking is guaranteed for arbitrary type reference signais that satisfy a weil defined strict compatibility condition. When, the reference signal is just compatible in the mean then the tracking quality depends on the reference variation rate. For periodic reference signais (not necessarily compatible with the constraint), ail the c1osed-loop system signais are shown to be periodic with the same period.

Domaines: Automatique; Automatique / Robotique

Fouad Giri, Jean-Baptiste Gning, Fatima Zara Chaoui, E. Chater. Constrained control of continuous-time minimum-phase systems. Global output reference tracking results. European Control Conference, ECC'2009, Aug 2009, Budapest, Hungary. pp.3142-3147. ⟨hal-01059999⟩