System Level Synthesis with State and Input Constraints
- Creators
- Chen, Yuxiao
- Anderson, James
Abstract
This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we show how state and actuation constraints can be incorporated into the SLS structure. Moreover, we show that the dual variable associated with the constraint has the same sparsity pattern as the SLS parametrization, and therefore the computation distributes using a simple primal-dual algorithm. We provide a stability analysis for SLS design with input saturation under the Internal Model Control (IMC) framework. We show that the closed-loop system with saturation is stable if the controller has a gain less than one. In addition, a saturation compensation scheme that incorporates the saturation information is proposed which improves the naive SLS design under saturation.
Additional Information
© 2019 IEEE. We gratefully acknowledge John C. Doyle for suggesting we look at internal model control theory in connection with this problem.Attached Files
Accepted Version - 1903.07174.pdf
Files
Name | Size | Download all |
---|---|---|
md5:5acff289cce4d162ed342823079f2006
|
595.3 kB | Preview Download |
Additional details
- Eprint ID
- 105359
- Resolver ID
- CaltechAUTHORS:20200911-133139643
- Created
-
2020-09-11Created from EPrint's datestamp field
- Updated
-
2023-01-19Created from EPrint's last_modified field