Effect of Control Constraints on Control Policy Determined by Pole Shifting

B. Liao and R. Luus (Canada)


Time suboptimal control, Pole shifting, Control constraints


For time suboptimal control problems, the output feedback control gain matrix is obtained by shifting the dominant poles as far to the left as possible. To handle constraints on the control, the standard clipping technique is used where the control is placed on the bound if the calculated value is beyond the bound. As shown in this paper, even if all eigenvalues have negative real parts, the presence of constraints on control variables can restrict the approach to the desired state and make the control policy unacceptable. Since the feedback matrix obtained by optimization is not unique, with proper care, pole shifting can provide excellent time suboptimal control.

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