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Romulo J. Silva Jr.
Graduate Program on Electrical Engineering (PPGEL), CEFET-MG, Belo Horizonte, MG
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Valter J. S. Leite
Graduate Program on Electrical Engineering (PPGEL), CEFET-MG, Belo Horizonte, MG; Department of Mechatronics Engineering, CEFET-MG - Campus Divinópolis, Divinópolis, MG
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Luís F. P. Silva
Department of Mechatronics Engineering, CEFET-MG - Campus Divinópolis, Divinópolis, MG
Keywords:
Time-varying discrete-time systems, time-varying state-delays, saturating actuators, ℓ2-gain, Input-to-state stability, robust control
Abstract
Recent works in the literature deal with efficient numerical conditions to robustly stabilize state-delayed discrete-time systems under saturating actuators. However, practical issues such as the rejection of exogenous signals and their effects on the region of safe initial conditions have not been thoroughly investigated. This work extends a previous controller design condition to handle the ℓ2 gain between the exogenous signals and the measured output. Moreover, the notion of input-to-state stability is applied, allowing to consider the effects of the disturbance signals over the estimates of the safe initial conditions region. Furthermore, a recent optimization procedure formulated in an augmented space is applied, allowing better estimates of the region of safe initial conditions while maintaining the numerical complexity acceptable. A numerical example illustrate the methods proposed and compare the achievements with the concerned literature.
