A root locus approach to designing tracking controllers in systems with saturating actuators

Shi Nung Ching, Pierre T. Kabamba, Semyon M. Meerkov

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper presents two modifications of the classical method of root locus, which facilitate the design of controllers for tracking random references in the presence of actuator saturation. We begin by studying admissible closed loop pole locations for tracking random references. Then we study the impact of actuator saturation using the method of stochastic linearization, whereby the saturation is replaced by a quasilinear element, leading to the notion of saturated closed loop poles. As a result we obtain the so-called saturated root locus, and use it for controller design.

Original languageEnglish
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Pages5828-5833
Number of pages6
DOIs
StatePublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY
Period07/9/0707/13/07

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