Improved Output Feedback Control of Constrained Linear Systems using Invariant Sets

Ana Mancini, Tiago Almeida, Carlos Dórea

2021

Abstract

We propose an improved design method for output feedback control of discrete-time linear systems subject to state and control constraints, additive disturbances and measurement noise. Output Feedback Controlled-Invariant polyhedral sets are used to ensure that state and input constraints are satisfied all time. The control strategy seeks to enforce the set of states consistent with the measured output into a closed ball around the origin. The control input is computed through the solution of Linear Programming (LP) problems, whose goal is to minimize the size of the ball one step ahead. Then, we use the optimization results to reduce the set of admissible states, steering the state to a smaller ball around the origin. The improvement provided by the proposed strategy is illustrated by numerical examples.

Paper Citation

in Harvard Style

Mancini A., Almeida T. and Dórea C. (2021). Improved Output Feedback Control of Constrained Linear Systems using Invariant Sets. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 566-573. DOI: 10.5220/0010556705660573

in Bibtex Style

@conference{icinco21,
author={Ana Mancini and Tiago Almeida and Carlos Dórea},
title={Improved Output Feedback Control of Constrained Linear Systems using Invariant Sets},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={566-573},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010556705660573},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Improved Output Feedback Control of Constrained Linear Systems using Invariant Sets
SN - 978-989-758-522-7
AU - Mancini A.
AU - Almeida T.
AU - Dórea C.
PY - 2021
SP - 566
EP - 573
DO - 10.5220/0010556705660573