Abstract
This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.
Original language | English |
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Pages (from-to) | 397-402 |
Number of pages | 6 |
Journal | Journal of Institute of Control, Robotics and Systems |
Volume | 22 |
Issue number | 6 |
DOIs | |
State | Published - 2016 |
Keywords
- Disturbance observer
- LMI (Linear Matrix Inequality)
- State feedback control
- Uncertain system