Funnel control with saturation: Linear MIMO systems


Hopfe, N., Ilchmann, A. and Ryan, E. P., 2010. Funnel control with saturation: Linear MIMO systems. IEEE Transactions on Automatic Control, 55 (2), pp. 532-538.

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    Tracking-by the system output-of a reference signal (assumed bounded with essentially bounded derivative) is considered in the context of linear m-input, m-output systems subject to input saturation. The system is assumed to have strict relative degree one with stable zero dynamics. Prespecified is a performance funnel, within which the tracking error is required to evolve: transient and asymptotic behavior of the tracking error is influenced through choice of parameter values which define the funnel. The control structure is a saturating error feedback with a gain function designed to evolve so as to preclude contact with the funnel boundary. A feasibility condition (formulated in terms of the system data, the saturation bounds, the funnel data, bounds on the reference signal, and the initial state) is presented under which the tracking objective is achieved, whilst maintaining boundedness of all signals.


    Item Type Articles
    CreatorsHopfe, N., Ilchmann, A. and Ryan, E. P.
    DepartmentsFaculty of Science > Mathematical Sciences
    Publisher Statementhopfe-55-2.pdf: Copyright © 2010 IEEE. Reprinted from IEEE Transactions on Automatic Control. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Bath?s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it
    ID Code18043


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