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This paper considers closed-loop quadratic stability and 2 performance properties of linear control systems subject to input saturation. More specifically, these properties are examined within the context of the popular linear antiwindup augmentation paradigm. Linear antiwindup augmentation refers to designing a linear filter to augment a linear control(More)
We present stability results for unconstrained discrete-time nonlinear systems controlled using finite-horizon model predictive control (MPC) algorithms that do not require the terminal cost to be a local control Lyapunov function. The two key assumptions we make are that the value function is bounded by a K/sub /spl infin// function of a state measure(More)
In this paper, we present robust stability results for constrained discrete-time nonlinear systems using a finite-horizon model predictive control (MPC) algorithm for which we do not require the terminal cost to have any particular properties. We introduce a definition that attempts to characterize the robustness properties of the MPC optimization problem.(More)
This work considers the design of fixed-order antiwindup compensators guaranteeing stability and a given level of L2 performance. The main results show how the design of such a compensator can be cast as a nonconvex optimization problem. It is demonstrated how, under given conditions, this optimization problem can be reduced to a standard LMI (linear matrix(More)
In this paper, we present several case studies illustrating the synthesis of static and dynamic optimal finite L<sub>2</sub> gain anti-windup compensation using linear matrix inequalities, the theoretical underpinnings having been described in [6]. The resulting performance is also compared to the well-known IMC-based anti-windup construction both through(More)
Fixed order anti-windup augmentation is addressed by considering the dynamics of the mismatch between the constrained and unconstrained responses. The method utilizes LMIs, and the result parallels other recent LMI-based anti-windup synthesis methods. Robustness is directly addressed}which is not done in previous LMI work on anti-windup. An optimal(More)
We study linear anti-windup augmentation for linear control systems with saturated linear plants in the special case when the anti-windup compensator can only modify the input and the output of the windup-prone linear controller. We also measure the arising performance in terms of the finite L2 gain from exogenous inputs to selected performance outputs. Our(More)
This paper considers closed-loop quadratic stability and L2 performance properties of linear control systems subject to input saturation. More specifically, these properties are examined within the context of the popular linear anti-windup augmentation paradigm. Linear anti-windup augmentation refers to designing a linear filter to augment a linear control(More)
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