Abstract
In real control systems, there are some constraints on the value of inputs, states and outputs. If such constraints are violated, systems may become unstable in the worst case. One of the promising approaches to solve this problem is to switch the controller according to the state of the closed loop system. No useful design strategy for each controller, however, has been developed yet. In addition, the decision of controller state at the instance of controller switching has not been investigated. First of all, this paper presents a new design methodology which merges the switching control and H∞ controller design into one design algorithm. Secondly, this paper presents one of the decision method for controller states at the instance of controller switching. Finally, the proposed method is applied to a force control of one DOF manipulator to demonstrate the usefulness of the proposed method.
