Model Reference Control of Constrained Overactuated Systems with Integral Compensation

A model reference control allocation (CA) method is modified to become a control allocation method with integrator (CAI), it significantly improves control performance while readily integrating with existing methods. In general, CA methods take advantage of the redundancy of an overactuated system to achieve control objectives while respecting actuator limits. The method of this paper adds integral compensation to a CA method for multivariable model reference control with the special property that the closed-loop behavior remains the same. The transfer function matrix is preserved, yet zero static error results when experiencing small parametric uncertainties and constant disturbances. The application of the concept to the coordinated control of multiple buck converters feeding a common load is considered. A simulation of the system confirms the benefits of the proposed method.