Augmented invariance control for systems with smoothness constraints

In many applications, the controlled dynamical system is subject to constraints, e.g. to enforce a desired performance. There are various methods, which guarantee the enforcement of such constraints. They do, however, not provide satisfactory solutions if the system state has to exhibit certain smoothness properties. This work presents a novel method of designing a control input, which guarantees the adherence to constraints as well as a desired smoothness of the system state. The control scheme is implemented as an add-on to an existing task dependent control law. Augmentation of the dynamical system achieves a desired smoothness of the state whereas methods from invariance control are utilized to guarantee constraint enforcement.