V. Kapila et Wm. Haddad, Fixed-structure controller design for systems with actuator amplitude and rate non-linearities, INT J CONTR, 73(6), 2000, pp. 520-530
In this paper we develop output feedback controllers and fixed-order (i.e.,
full- and reduced-order) dynamic compensators for systems with actuator am
plitude and rate saturation constraints. The proposed design methodology em
ploys a rate limiter as part of the controller architecture. The problem of
simultaneous control amplitude and rate saturation is embedded within an o
ptimization problem by constructing a Riccati equation whose solution guara
ntees closed-loop global/local asymptotic stability in the face of sector b
ounded actuator amplitude and rate non-linearities. Application of the prop
osed framework is demonstrated via a flight control example involving actua
tor amplitude and rate saturation constraints.