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This paper deals with switching between several linear time-invariant controllers to be used in feedback with a MIMO linear time-invariant (not necessarily stable) plant to be controlled. The authors explore the fact that, aside from selecting the controllers' transfer functions and deciding which controller to use in the feedback loop at each time instant, the system designer has two additional degrees of freedom that are used seldom: the choice of the realizations for the controllers' transfer functions and selection of the initial condition that is assigned to the controller when it is switching into the feedback loop. They show that by selecting appropriate controller realizations and finding optimal values for the initial controller state, one can achieve significantly better transients.
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