Control of linear systems with regulation and input constraints Ali Saberi School of Electrical Engineering and Computer Science Washington State University Pullman, WA 99164-2752 U.S.A. Fax: (509) 335-3818 E-mail:
[email protected] Anton A. Stoorvogel Department of Mathematics and Computing Science Eindhoven Univ. of Technology P.O. Box 513, 5600 MB Eindhoven The Netherlands Fax: +31-40-2442489 E-mail:
[email protected] Peddapullaiah Sannuti Department of Electrical and Computer Engineering Rutgers University 94 Brett Road, Piscataway, NJ 08854-8058, USA Fax: (732) 445-2820, E-mail:
[email protected] July 15, 2003 ISBN-10: 1852331534 2 This book is dedicated to: Ann, Ingmar, and Ula (Ali Saberi) Suseela, Aruna, Mohan, Arun, and Pavan (Pedda Sannuti) vi Dedication Preface Ever since the beginnings of mankind eons ago, the desire to control, regulate, and track even under persistent disturbances has been a dominating influence in the development of human civilization. It is so also in the development of Automatic Control Theory and its Applications. The subject of output regulation occupies a central theme in all endeavors of theoreticians and practitioners alike. Yet there is no book or monograph that brings all essential modern developments on output regulation under a single cover. This book is intended to fill this void. Main topics that are brought together in this book include among others, classical exact output regulation of linear systems along with its different facets of well-posedness, internal model principle, and structural stability; output regulation of linear systems with input amplitude and rate saturation constraints; output regulation with transient performance specifications; performance issues (such as H2 , H∞ , L 1 and others) with an output regulation constraint; generalized output regulation in which the set of tracking signals as well as the set of disturbances that act on the plant are broadened beyond those that are common in classical output regulation, and thus permitting us to deal with exact as well as almost output regulation under a variety of controllers, etc. This book is designed to meet t