PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

doi:10.1109/JAS.2021.1004281

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	PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation
	Xujun Lyu; Zongli Lin
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:1 页码:90-98
摘要	This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.
关键词	Actuator saturation domain of attraction nonlinear systems PID control uncertainties
DOI	10.1109/JAS.2021.1004281
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45976
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Xujun Lyu,Zongli Lin. PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):90-98.
APA	Xujun Lyu,&Zongli Lin.(2022).PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation.IEEE/CAA Journal of Automatica Sinica,9(1),90-98.
MLA	Xujun Lyu,et al."PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation".IEEE/CAA Journal of Automatica Sinica 9.1(2022):90-98.

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