In this paper the problem of optimizing the output regulation of an underactuated LPV system is considered. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. The problem of finding the input that minimizes a cost function of the overall output tracking error is investigated for a special class of LPV systems that admit steady-states. Moreover, it is shown how such solution is related to the inputs associated to the singularly optimal regulation of each output.

Optimizing output regulation for a class of underactuated LPV systems

CORONA, DARIO;CRISTOFARO, ANDREA;
2017-01-01

Abstract

In this paper the problem of optimizing the output regulation of an underactuated LPV system is considered. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. The problem of finding the input that minimizes a cost function of the overall output tracking error is investigated for a special class of LPV systems that admit steady-states. Moreover, it is shown how such solution is related to the inputs associated to the singularly optimal regulation of each output.
2017
978-1-5090-4533-4
273
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11581/403880
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