SATURATED CONTROL OF TRIPLE INTEGRATOR

BISTÁK, P.; ŤAPÁK, P.

Abstract

This paper discusses the design of simple constrained controllers based on the dynamics decomposition into particular modes for higher order systems. It shows the minimum time pole assignment control of triple integrator with control signal constraints. The basic of this approach for 2nd order systems has been shown in (Huba, 1990; Huba 1998; Huba 2003). Designed control combines well known time-optimal control and linear pole placement algorithm, i.e. the control consists of three phases similar to time-optimal control, however the transient between the phases are “smooth” with dynamics given by the closed loop poles. Due to the symbolic solutions made in computer algebra system MAPLE, the design can be used for different 3rd order systems. The decomposition into particular modes, the control algorithm synthesis and several simulations of the tripple integrator control as the verification of the designed control are shown in the paper.

Coresponding author e-mail: Pavol[dot]Bistak[at]stuba[dot]sk

Session: Linear and Non-linear Control System Design