Saturated root locus: Theory and application

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

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

1 Scopus citations

Abstract

This paper extends the standard root locus technique to systems with saturating actuators. This is accomplished by introducing the notion of S-poles, which are the poles of the quasilinear system obtained by applying the method of stochastic linearization to the system with saturation. The path traced by the S-poles on the complex plane when the gain of the controller changes from zero to infinity is the S-root locus. We show that the S-root locus is a subset of the standard root locus, which may terminate prematurely at the so-called termination points. A method for calculating these points is presented. In addition, the issue of amplitude truncation in terms of the S-root locus is investigated. Finally, an application of the S-root locus to hard disk drive controller design is presented, and it is shown that this simple technique results in a controller that compares favorably with those designed using more sophisticated approaches.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Conference

Conference17th World Congress, International Federation of Automatic Control, IFAC
Country/TerritoryKorea, Republic of
CitySeoul
Period07/6/0807/11/08

Keywords

  • Constrained control
  • Control of constrained systems
  • Systems with saturation

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