Venue: Department of Industrial Engineering , via Sommarive 9, Povo - Trento
The amplitude of the signal that can be delivered by an actuator is typically limited due to physical or security constraints. These limits clearly affect the attainable performance, but may even induce unpredictable responses unless the control system is suitably conditioned (airplane crashes, nuclear accident in Chernobyl... ). This course deals with stability of saturated systems, design controllers taking into account saturation a priori, or modify existing controllers a posteriori to account for saturations. The course is mostly based on Lyapunov theory with quadratic Lyapunov functions.
May 8, 15:00-19:00, Room B104
Introduction: motivation, examples, types of actuators and study of their nonlinear behaviors. Stability of Nonlinear systems: GAS, LAS, GES, domain of attraction, forward invariance, Stability domain and general Lyapunov theory. First Lyapunov approaches to deal with saturation.
May 9, 9:00-11:00, Room B101
Stability for nonlinear systems. Disturbances, Quadratic Lyapunov functions. Use of LMIs and Finsler Lemma, Schur Complements and S-Procedure. Representation of Saturation and Sector conditions.
May 16, 15:30-18:30, Room B102
State-feedback with external inputs. Matlab exercises.
May 17, 9:00-12:00, Room A108
H_infinity-type approach to output feedback with input saturation. Static and dynamic direct-linear anti-windup.
May 18, 14:00-17:00, Room A219
Exercices with Matlab, also involving extensions to rate saturation.
May 19, 9:00-12:00, Room A108
Model Recovery anti-windup and some nonlinear extensions.