Constrained Pole Assignment Control

Summary

This chapter gives an overview of simple controllers for SISO systems based on the generalization of the linear pole assignment method for constrained systems with dynamics ranging from relay minimum time systems to linear pole assignment systems. The design is based on splitting the nth-order system dynamics into n first-order ones, which can be constrained without any problems with stability and overshooting. It requires a successive decrease of the distance of the representative point from the next invariant set with lower dimension. Since the distance of the representative point to such invariant set can be defined in many ways, the construction of the constrained controllers is not unique. The controllers derived from the second-order integrator are simple, appropriate also for extremely fast application, and easy to tune by a procedure that generalizes the well-known methods by Ziegler and Nichols, or ?Aström and Hägglund, respectively.

This work has been partially supported by the Slovak Scientific Grant Agency, Grant No. 1/7621/20.