TY - GEN
T1 - Saturated root locus
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
AU - Ching, Shi Nung
AU - Kabamba, Pierre T.
AU - Meerkov, Semyon M.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Constrained control
KW - Control of constrained systems
KW - Systems with saturation
UR - http://www.scopus.com/inward/record.url?scp=79961020311&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.0291
DO - 10.3182/20080706-5-KR-1001.0291
M3 - Conference contribution
AN - SCOPUS:79961020311
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -