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Discrete-time supervisory control of families of two-degrees-of-freedom linear set-point controllers

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3 Author(s)
Borrelli, D. ; Dipt. di Sistemi e Inf., Univ. di Firenze, Italy ; Morse, A.S. ; Mosca, E.

This paper describes a discrete-time "high-level" controller, called a "supervisor", capable of switching into feedback with a discrete-time single-input/single-output (SISO) system, a sequence of linear two-degrees-of-freedom (2-DOF) set-point controllers. Each controller is selected among a family of candidates so as to cause the output of the system to approach and track a constant reference input. It is shown that the proposed supervisor can stabilize the loop and ensure a zero set-point tracking error even if constant load disturbances are present.

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Automatic Control, IEEE Transactions on  (Volume:44 ,  Issue: 1 )