A Performance Analysis of Control Systems with Input Constraints

∼Utilization of Piecewise Quadratic Storage Functions∼

Abstract

Input constraints exist in almost all real-world systems. The constraints may cause unexpected and undesirable phenomena such as performance degradation or instability. Although many procedure have been suggested for this problem, precise analysis of the systems with input constraints is said to be difficult. In this paper, the systems with input constraints are equivalently represented as piecewise affine systems, and we suggest a method for analyzing L₂ gain and L₂ incremental gain of the systems by adopting piecewise quadratic storage functions.