Discrete-time supervisory control of families of two-degrees-of-freedom linear set-point controllers

@article{Borrelli1999DiscretetimeSC,
  title={Discrete-time supervisory control of families of two-degrees-of-freedom linear set-point controllers},
  author={Donato Borrelli and A. Stephen Morse and Edoardo Mosca},
  journal={IEEE Trans. Autom. Control.},
  year={1999},
  volume={44},
  pages={178-181}
}
This paper describes a discrete-time "high-level" controller, called a "supervisor", capable of switching into feedback with a discrete-time single-input/single-output (SISO) system, a sequence of linear two-degrees-of-freedom (2-DOF) set-point controllers. Each controller is selected among a family of candidates so as to cause the output of the system to approach and track a constant reference input. It is shown that the proposed supervisor can stabilize the loop and ensure a zero set-point… 

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