Output-feedback controlled-invariant polyhedra for constrained linear systems

13 years 7 months ago

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Abstract— A design method is proposed for outputfeedback control of linear systems subject to state and control constraints, additive disturbances and measurement noise. First, necessary and suﬃcient conditions for a polyhedral set to be controlled-invariant under output-feedback are presented, which can be checked by the solution of a set of Linear Programming problems. Then, a dynamic output-feedback compensator structure is proposed to guarantee constraint satisfaction, through the construction of an output-feedback controlled-invariant set, from a pair composed by a conditioned-invariant and a controlledinvariant polyhedron. Based on the available measurements and on the state of the compensator, a suitable control sequence can be computed to enforce the state constraints. Diﬀerently from other approaches, the proposed method does not rely on pre-computed linear controllers or observers. Therefore, it is likely to provide a solution for larger amplitudes of disturbances and n...

Carlos Eduardo Trabuco Dórea

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