In this paper we propose a separation result for the stabilization of systems with control and measurement contraints, which clarifies the connection between the solution of a couple of Hamilton Jacobi inequalities (HJI) and the constraints imposed on the control and the estimation error fed back in the control loop. Once a solution of these HJI has been found a measurement feedback controller can be directly implemented. This controller has different features with respect to classical controllers: in classical control schemes an observer consists of a “copy” of the system plus a term proportional to the error between the actual measurement and the “estimated” measurement. Here, we allow a term which is a nonlinear function of this error.
Measurement feedback controllers with constraints and their relation to the solution of Hamilton Jacobi inequalities / Battilotti, Stefano. - STAMPA. - (2003), pp. 857-862. (Intervento presentato al convegno 42nd IEEE Conference on Decision and Control tenutosi a Maui, HI; United States nel 09-12 December 2003) [10.1109/CDC.2003.1272673].
Measurement feedback controllers with constraints and their relation to the solution of Hamilton Jacobi inequalities
BATTILOTTI, Stefano
2003
Abstract
In this paper we propose a separation result for the stabilization of systems with control and measurement contraints, which clarifies the connection between the solution of a couple of Hamilton Jacobi inequalities (HJI) and the constraints imposed on the control and the estimation error fed back in the control loop. Once a solution of these HJI has been found a measurement feedback controller can be directly implemented. This controller has different features with respect to classical controllers: in classical control schemes an observer consists of a “copy” of the system plus a term proportional to the error between the actual measurement and the “estimated” measurement. Here, we allow a term which is a nonlinear function of this error.File | Dimensione | Formato | |
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