CALCULATION OF RECOVERABLE SETS FOR SYSTEMS WITH INPUT AND STATE CONSTRAINTS

The paper investigates two methods to calculate recoverable sets for c ontinuous-time, linear time-invariant systems subjected to input and s tate constraints. A state is said to be recoverable if it can be drive n to the equilibrium point while respecting the constraints. The recov erable set is the set of all the recoverable states. The first computa tional method discussed in the paper is based on the equivalence betwe en recoverability and the existence of a time-optimal control law. The second method uses short-cuts that are applicable to two-dimensional systems and reduce the number of computations by about an order of mag nitude. Several examples with distinctive characteristics are presente d. (C) 1998 John Wiley & Sons, Ltd.