Acceleration-Bounded Control Design for Actuator Fault Prevention

A method for synthesizing dynamic output feedback controllers for systems presenting actuators constrained in amplitude, rate and acceleration is here proposed. A linear compensator generates the second-order derivative of the control signal. Two saturating integrators blocks connected to the compensator output deliver to the actuator a signal inside all its bounds. Anti-windup gains in controller dynamics and output are also considered in the structure. These gains provide additional degrees of freedom for the controller design and lead to better results in optimization problems. Sufficient conditions for the existence of such stabilizing controllers are given in terms of LMIs. An example from the literature illustrates the method.