Scheduling control of unstable systems with state constraints and input saturation

Abstract

In this paper, we consider scheduling control of a linear system, where control inputs have saturation nonlinearity and state variables are constrained by physical restrictions. Usually, these nonlinearity and constraints are negatively avoided by making a control-gain small in control design. By introducing a scheduling control, we show that those nonlinearity and constraints can be positively avoided, that is, we can attain better control performances. The effectiveness of the proposing control is evaluated by experiments on a magnetic levitation system.