engleski

Stability Analysis of a Patched LQR Control System for Constrained Multi-Mass Electrical Drives

In this paper we analyze a recently introduced protective predictive controller patch for motor drives with elastic transmission that are subject to physical and safety constraints on their variables. The protective patch is obtained using invariant sets methodology and is used in combination with the classical LQR controller. The easy implementation of the patch on-line allows the correction of the LQR control signal in order to suppress the violation of constraints in the future and thus avoid possibly dangerous and/or drive-harmful situations during the transients. Since LQR controller itself in the absence of constraints guarantees stability of the control system, we show how the stability of the constrained control system with a controller composed of the combination of LQR and the protective patch may be confirmed.

multi-mass electrical drive; constraints; LQR control; the maximum controlled invariant set; the maximum positively invariant set; reachability and stability analysis; piecewise affine systems

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