Optimization of closed-loop poles for robust constrained control

The presented paper introduces a relatively simple methodology for robust control system design in case of the limits on the control input signal. For this task efficient simulation and optimization tools of the MATLAB system are fruitfully exploited. The control system design is based on the algebraic approach resulting in the pole-placement problem to be solved. This task is addressed numerically using the standard MATLAB functions for nonlinear constrained optimization to meet both the constraints on the manipulated variable and robustness of the resultant closed-loop. Certain control quality criteria and a procedure are introduced for this purpose. The suggested algorithm is illustrated on the AMIRA DR300 servo-system controlled both in robust sense and with limited control action. Presented results show applicability of the suggested approach.