Parameter Selection Procedure for an Amplitude- and Rate-saturated Controller
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This paper presents a selection procedure to obtain parameter values of the authors’ previously proposed amplitude- and rate-saturated controller. This controller employs a state-dependent parameter that enlarges the region of attraction when the state is far from the origin and shrinks the finite-time attractor when the state is close to the origin. The proposed selection procedure involves a set of linear matrix inequalities and also includes iterative computation. Two numerical examples for stable and unstable systems show the effectiveness of the proposed selection procedure.
KeywordsActuator constraints amplitude limitation linear matrix inequality rate limitation sliding mode
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