Time Sub-Optimal Controller for Triple Integrator Applied to Three-Level Hydraulic System

Pavol Bisták


nonlinear control, optimization, input constraints, smooth switching, three-tank hydraulic system


The paper presents the design of the time sub-optimal controller for the triple integrator and its application to the three-level hydraulic system. The controller design is based on switching surfaces. The high sensitivity of the time optimal controllers is well-known and the proposed sub-optimal controller tries to reduce it by smooth change of control values between the control limits. The designed controller is applied to the hydraulic system where its nonlinearities are compensated by the transformation of control constraints. The results are compared with the classical pole assignment controller and exact linearization controller.

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